Method for the automatic determination of the actual position of an edge or the like in a metallic workpiece surface, in particular a roof channel in a motor-vehicle body, for correcting the movement of an industrial robot

摘要

The invention relates to a method for the automatic determination of the actual position of a roof channel (2) in a motor-vehicle body (1) in relation to a robot. For this purpose, inductive sensors (4, 5) arranged on the robot tool (6) are used to determine coordinate measuring points at the channel (2) and from these values the position is calculated. IMAGE