Patent ID: 9008837
Filing Date: 2015-04-14
Classification: G05B

Abstract:
1. A method for creating a robot model of an industrial robot that comprises a robotic arm with several successive links that can be adjusted about respective axes by drives connected to the links by transmissions and controlled by a control device of the industrial robot, comprising the following method steps: moving the robotic arm into several poses, wherein, for each pose, at least one of the links is moved by its respective drive in a first direction of movement, at least during the approach of the pose, measuring the robotic arm in the respective poses in order to obtain a first robot model, moving the robotic arm into several additional poses, wherein, for each additional pose, at least one of the links is moved by its respective drive in a second direction of movement, at least during the approach to the additional poses, wherein the second direction of movement is opposite to the first direction of movement, and measuring the robotic arm in the respective additional poses in order to obtain a second robot model of the industrial robot.