Control method for industrial robot arm involves deriving correction values for optional points on workpiece from position deviations of workpiece calibration points and reference points

摘要

The method involves measuring calibration points on the workpiece with respect to a fixed coordinate system using a measurement arrangement that is fixed with respect to the robot arm and determining the position deviations of the calibration points with respect to predefined stored reference points (P1-P3,B01,B02). Correction values for optional points on the workpiece are derived from the position deviations.