Patent ID: 8346392
Filing Date: 2013-01-01
Classification: B25J

Abstract:
1. A method for the high-precision positioning of at least one object in a final location in space by means of an industrial robot, with a first industrial robot which can be adjusted into predefinable positions and a first optical recording means which is calibrated in a three-dimensional space coordinate system and positioned in a known first position having a known orientation, with an optically calibrated first camera for recording images within a determined first field of vision, a first drive unit for orienting the first camera causing an adjustment of the first field of vision and a first angle measuring unit, which is calibrated in the space coordinate system, for the high-precision detection of the angular orientation of the first camera, so that the first field of vision can be determined in the space coordinate system, at least one second optical recording means which is calibrated in the three-dimensional space coordinate system and positioned in a known second position having a known orientation, with an optically calibrated second camera for recording images within a determined second field of vision, a second drive unit for orienting the second camera causing an adjustment of the second field of vision and a second angle measuring unit, which is calibrated in the space coordinate system, for the high-precision detection of the angular orientation of the second camera, so that the second field of vision can be determined in the space coordinate system the at least two positions being set apart in such a way as to allow a three-dimensional image recording of the at least one object by means of the at least two recording means through at least partly overlapping fields of vision, the method comprising: the first industrial robot gripping and holding a first object within a gripping tolerance, wherein the first object has a known optically detectable first feature; determining a first compensating variable of a type which corrects the gripping tolerance, for the first industrial robot, so that the first object is adjustable in a compensated manner in the space coordinate system by predefining a position of the first industrial robot, the first compensating variable being determined by the steps of adjusting the first object with high precision into a first final location by the steps, which are repeated until the first final location is reached at a predefined tolerance, of: