Arrangement and method for the model-based calibration of a robot in a working space

Abstract

The invention relates to an arrangement for the model-based calibration of a mechanism in a workspace with calibration objects that are either directed laser radiation patterns together with an associated laser radiation-pattern generator or radiation-pattern position sensors. Functional operation groups made up of at least one laser radiation pattern and at least one position sensor interact in such a way when a radiation pattern impinges on the sensor that measured sensor position information values are passed along to computing devices that determine the parameters of a mathematical mechanism model with the aid of these measured values. In the process, at least two different functional operation groups are used to calibrate the mechanism, and at least two calibration objects from different functional operation groups are rigidly connected to one another.

1 ) Arrangement for model-based calibration of a mechanism in a workspace with calibration objects that are either directed laser radiation patterns together with an associated laser radiation-pattern generator or radiation-pattern position sensors, wherein functional operation groups comprised of at least one laser radiation pattern and at least one position sensor interact in such a way when a radiation pattern impinges on the sensor that measured values with sensor position information are passed along to computing devices that determine parameters of a mathematical mechanism model with the aid of these measured values,
 wherein   at least two different functional operation groups are used to calibrate the mechanism, and at least two calibration objects from different functional operation groups are rigidly connected to one another.   
     
     
         2 ) Arrangement according to  claim 1 ,
 wherein   two or more calibration objects from different operation groups are rigidly connected via a carrier unit.   
     
     
         3 ) Arrangement according to  claim 1 ,
 wherein   at least two rigidly connected calibration objects are fastened to a carrier unit ( 5 ) in a predetermined spacing range or a predetermined orientation range relative to one another, wherein the range limits are determined by the manner in which the specific arrangement is realized and by the type of robot, the size of the robot, the specific task that the robot is supposed to carry out, the size of the workspace section in which high precision is required and a user-specific weighting of position and orientation errors.   
     
     
         4 ) Arrangement according to  claim 1 ,
 wherein   all of the stationary calibration objects are mounted on a single carrier unit.   
     
     
         5 ) Arrangement according to  claim 1 ,
 wherein   calibration measurement values of at most two stationary radiation-pattern position sensors are recorded and passed along to the computing unit.   
     
     
         6 ) Arrangement according to  claim 1 ,
 wherein   two or more rigidly connected laser radiation patterns are arranged in sets such that at least one laser beam in one pattern is parallel to at least one beam in each of the other radiation patterns of the given set.   
     
     
         7 ) Method for the model-based calibration of a robot in a workspace with several calibration objects and computing devices in accordance with  claim 1 ,
 wherein   a rigid connection of at least two calibration objects from different functional operation groups is created if they were not rigidly connected from the outset by construction as in the case of laser beams generated by splitting optics, and the relative poses of the rigidly connected calibration objects vis-a-vis one another are precisely identified, stored, and the knowledge of these relative poses is used to improve subsequent mechanism calibrations.