Method and device for the improvement of the pose accuracy of effectors on mechanisms and for the measurement of objects in a workspace

摘要

A device and a method for measuring the pose of mechanisms includes at least one effector object fixedly joined to a mechanism (e.g., industrial robot, hexapod) in which the at least one effector object moves along one of several axes. The ideal, effective shape of the at least one effector object is a point, a straight line, a plane, an ellipsoid, a cylinder, a hyperboloid or a combination thereof. The movable effector objects interact with reference objects which are arranged in defined positions relative to the mechanism. The interactions are detected by a suitable sensor. The interactions are detected, only the pertaining joint configuration of the mechanism is transmitted to the information processing unit and evaluated and no further continuous values of measuring parameters are required for the evaluation.