| 摘要 |
<p>Method for determining and compensating the deviation of the path of an industrial robot by representation of a standard movement path (5) of the tool flange on a surface (6), alignment of an optoelectronic sensor (3) mounted on the tool flange (2) with the surface (6), guidance of the tool flange (2) together with the optoelectronic sensor (3) mounted thereon in accordance with the preset desired-path programme, and storage of the deviation of the path of the tool flange (2), resulting as a deviation of the image of the represented desired-movement path in the optoelectronic sensor (3) from its mid-point, and a device for carrying out this method. <IMAGE></p> |
