Patent ID: 6836702
Filing Date: 2004-12-28
Classification: B23K,B25J,G05B

Abstract:
A method for fine tuning of a robot program for a robot application comprising an industrial robot, a tool and a work object to be processed by the tool along a path comprising a number of desired poses on the work object, the robot program comprises a number of program instructions containing programmed poses corresponding to the desired poses, wherein the method comprises:a) defining a fine tuning coordinate system, b) selecting one of said programmed poses, c) calculating said selected pose in the fine tuning coordinate system, d) producing one or more program instructions for said selected pose in the fine tuning coordinate system, e) running said one or more program instructions by the robot, f) determining the difference between the pose obtained after running said one or more program instructions and the desired pose, g) adjusting the fine tuning coordinate system in dependence of said difference, so that the obtained pose approaches the desired pose, h) producing one or more program instructions for said selected pose in the adjusted fine tuning coordinate system, and i) repeating the steps b-h for at least one more of the programmed poses.