| 摘要 |
The invention relates to a method for measuring handling devices, especially machine tools or handling robots. The aim of the invention is to provide a means of measuring said handling device quickly and accurately. To this end, a measuring system (3a, 3b, 4) is calibrated as follows: at least one measuring body (2) is recorded by a calibrating device and moved into reference positions (Ri), which are spread throughout the three-dimensional working space; reference calibration values are determined by the measuring system (3a, 3b, 4) in the reference positions; and reference data are produced from the reference positions and reference calibration values. At least one measuring body (2) is then recorded by the handling device (1) and moved successively into various measuring positions (Xi) according to handling device (Ei) settings. The measuring system (3a, 3b, 4) determines measuring values (Mi) in said measuring positions and these are then compared with the stored reference data. The actual co-ordinates of the measuring body (2) are then determined from this comparison. The actual co-ordinates are compared with the desired co-ordinates calculated using the settings and this comparison is used to determine corrected settings for the handling device. |
