Patent ID: 7272524
Filing Date: 2007-09-18
Classification: B25J,G05B,Y02P

Abstract:
1. A method for programming an industrial robot to move relative to defined positions on an object, wherein the programming is based on a geometric model of the object, the method comprising: registering and storing a plurality of measuring points, each measuring point corresponding to a point on a surface of the object expressed in a coordinate system associated with the robot; calculating one or a plurality of characteristic parameters for a plurality of different parts of the object based on the geometrical model of the object; determining an orientation and position of the geometrical model of the object relative to said coordinate system associated with the robot by adapting the geometrical model of the object to the measuring points, wherein adapting the geometrical model of the object to the measuring points comprises adapting measuring points belonging to a certain part of the object to the defined positions on a corresponding part of the geometrical model; determining to which part of the object a measuring point belongs based on said characteristic parameters; calculating a deviation between the measuring points and corresponding points on the geometrical model for at least some of the measuring point; adjusting said defined positions based on said calculated deviations; and providing the adjusted defined positions to a control system of the robot to be used for controlling the robot.