Automatic positioning involves acquiring substrate image before moving gripper into acquisition device field of view, acquiring component image, evaluating position difference

摘要

The method involves pre-positioning a tool with an integral measurement objective over the substrate, acquiring an image of the joint position with a gripper out of the field of view, storing substrate position coordinates, maintaining the objective position, moving the gripper into the field of view, acquiring an image for determining component position, driving a control parameter from position differences and performing position correction. The method involves pre-positioning a robotic tool with an integral tool measurement objective over the substrate in an image acquisition position, acquiring an image of the joint position (F) with a gripper (5) and component (3) out of the field of view, determining and storing the substrate (4) position coordinates, maintaining the position of the objective, moving the gripper into the field of view, acquiring an image for determining the component position, driving a control parameter from position differences and performing a resulting position correction. An independent claim is also included for an arrangement for automatically implementing the positioning method.