Carl Zeiss Industrielle Messtechnik Gmbh

Carl Zeiss Automated Inspection Gmbh

Peter Hofmann

Heiko Goller

Michael Kocab

Gernot Sattelmayer

Ivan Kausz

A device for acquiring a position and orientation of an end effector of a robot is provided. The robot has a robot arm with axes coupled to one another by joints. The end effector is arranged on an end of the robot arm, optical markers are arranged on first and second axes, and a number of joints between the end effector and the first axis is lower than a number of joints between the end effector and the second axis. An optical sensor acquires image data of the optical markers. A storage device stores a kinematic model of the robot arm. An evaluation device, in a first case, determines a first position of a first optical marker and the position and orientation of the end effector and, in a second case, a second position of a second optical marker and the position and orientation of the end effector.

Device for acquiring a position and orientation of an end effector of a robot

A measuring apparatus comprises an industrial robot and a sensor fastened to a movable arm of the robot. A calibration body comprises a calibration element, a carrier, and an alignment element rigidly arranged relative to the carrier. The alignment element interacts with a counter piece provided on a carrying structure. Data specifying the pose of the calibration element relative to the alignment element are encoded in an encoding zone which may be embodied as a data matrix code. The calibration body is initially aligned on the carrying structure with the aid of the alignment element and the counter piece. The sensor then approaches the encoding zone to read the data encoded therein. Subsequently, the pose of the calibration element relative to the carrying structure is determined using the previously read data. Finally, the pose of the calibration element is measured by the sensor to calibrate the measuring apparatus.

Method for calibrating a measuring apparatus for measuring body parts and other workpieces, and measuring apparatus suitable for carrying out the method

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Niedernhall, Germany

Peter Hofmann