Method for determining position of movable machine part to determine tool center point, involves determining position value with respect to position of object in reference system based on relative position data and acceleration data

摘要

The method involves generating relative position data of an object i.e. movable machine part, with respect to incremental lengths and/or changes in angle of the object relative to a reference system by using a position-measuring unit (20). Acceleration data assigned to the object in the reference system is generated by an inertial measurement unit (21). A position value with respect to the position of the object in reference system is determined based on the relative position data and the acceleration data. An independent claim is also included for an object position determining device comprising an inertial measurement unit.