Patent ID: 7738996

Claim:
A method for positioning a tool comprising a mounting plate, a first arm and a second arm, the second arm being rigidly connected to the mounting plate, the first arm and the second arm being movable to a position for joining together at least two sheets, wherein the tool is part of a robot system comprising an industrial robot and wherein an ideal position of the sheets for joining between the arms is stored in a control system of the robot, the method comprising: arranging the sheets between the arms of the tool, detecting an actual position of the sheets by moving one of the first arm and the second arm of the tool in a direction towards the sheets and into contact with the sheets to sense the actual position of the sheets, calculating a distance between the ideal position of the sheets between the arms for joining and the actual position of the sheets, controlling the tool with the industrial robot and, where necessary, moving an actual position of the second arm with the robot the calculated distance in a direction towards the sheets, and joining the sheets together with the tool utilizing a centered joint.