Movement system e.g. measuring robot, commanding method, involves providing threshold value for force and torque, and commanding movement system such that threshold value for force and torque acts at tool fastening point of movement system

摘要

The method involves manually displacing a measuring error head of a measuring device relative to a movement system e.g. measuring robot (12), and determining a position of the head by a sensor device (34) of the measuring device. Force and torque acting at a tool fastening point (28) of the movement system due to the displacement of the head is calculated based on a compliance model of the movement system. A threshold value for the force and the torque is provided, and the movement system is commanded such that the threshold value for the force and the torque acts at the fastening point.