Method for continuously determining the 3D positions and trajectory of the movement of a dynamic manufacturing object

摘要

Method for measuring the 3D positions and trajectory of movement of a dynamic article of manufacture (3), wherein a single camera (6) is fixed to and guided by a flange (4) of a robot (1), which continuously translates and translates Moving a dynamic manufacturing object (3) takes, move the camera and the object of manufacture in 3D space to each other and a continuous assessment of the 3D position and orientation of the object of manufacture (3) is made using the individual camera and the continuously determined 3D position and orientation of the dynamic article of manufacture (3) a synchronization of a robot (1) with the moving article of manufacture (3) is performed during its movement and the continuous estimation of the 3D position and orientation of the dynamic article of manufacture (3) by an iterative solution of the coefficients βa linear equation system Qθβ = q via a linear Kalman filter, wherein with the determined, sent to a control unit (9) position data from the object of manufacture (3) synchronization of the robot (1) with the moving article of manufacture (3) and the mounting of a workpiece (2) takes place on the article of manufacture (3) during its movement.