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Title:
METHOD AND DEVICE FOR THE POSITIONALLY PRECISE GRASPING OF A PRODUCTION PART FROM A PRODUCTION PART SUPPORT
Document Type and Number:
WIPO Patent Application WO2004026671
Kind Code:
A3
Abstract:
The invention relates to a method for delivering a production part (3) to a processing or mounting station (5) for processing and/or mounting purposes. The production part (3) is removed from a pick-up position (2) by a robot-guided production part handling unit (9), whereby the production part (3) is held in a positionally precise manner in grippers (10) of the production part handling unit (9). The production part handling unit (9) is connected to a sensor system (15) with the aid of which the production part handling unit (9), during an iterative control process, is aligned in a highly precise manner with regard to the production part (3). Over the course of this iterative control process, (actual) measured values of the sensor system (15) are generated that are compared with (set) measured values generated within the scope of a setting-up phase. A displacement vector of the production part handling unit (9) is calculated based on the difference between (actual) measured values and (set) measured values while using a Jacobian matrix that is calculated within the scope of the setting-up phase, and the production part handling unit (9) is displaced by this displacement vector. A floating or compensating mounting of the grippers (10) can be forgone due to the use of this alignment method of the production part handling unit (9) with regard to the production part (3).

Inventors:
KOLB THOMAS (DE)
KRAUS HELMUT (DE)
STAHS THOMAS (DE)
Application Number:
PCT/EP2003/009920
Publication Date:
August 26, 2004
Filing Date:
September 06, 2003
Export Citation:
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Assignee:
DAIMLER CHRYSLER AG (DE)
KOLB THOMAS (DE)
KRAUS HELMUT (DE)
STAHS THOMAS (DE)
International Classes:
B25J9/10; B21D28/34; B23P19/04; B23P21/00; B25J9/16; B25J13/08; B62D65/00; B62D65/02; B62D65/06; (IPC1-7): B62D65/00; G05B19/401
Foreign References:
US4852237A1989-08-01
US4670974A1987-06-09
US4667805A1987-05-26
Other References:
"Integrated Architecture Logix Platforms", ROCKWELL AUTOMATION CD-ROM PUBLICATION, XX, XX, December 2000 (2000-12-01), pages 45 - 46, XP002278110
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