A manipulator system and method for compensation of a kinematic deviation of a manipulator system

摘要

A method according to the invention for the compensation of a kinematic deviation of a manipulator system which contains a first part kinematics (t _ bs) with at least one degree of freedom (a1,.. a6) and a second part kinematics (t _ ib) with at least one degree of freedom (a7) by means of which a manipulator fixed reference (s) relative to an inertial system (i) is movable, comprises the steps of:(S10) sensing at least a first position (t _ sk1 - 1, t _ sk1 - 2,...) of the manipulator fixed reference (s) relative to a first calibration reference (k1), the reference position (t _ bk1) relative to a base (b) of the first part kinematics of the second part kinematics (t _ ib) is independent of the manipulator system; and(S20) calibration of the first part kinematics (t _ bs → t _ bs *) of the manipulator system on the basis of the detected first position (t _ sk1 - 1, t _ sk1 - 2,...) of the manipulator fixed reference (s).