A flexible multi-sensor positioning system for industrial r obots

Abstract

This paper offers an approach for a sensor-based robot positioning system which solves the problem of positioning the tool of an industrial robot relative to a wor k object for a subsequent assembly or application in the same way as it was done once during setup with a reference work object. The approach takes sensors as abstract data sources and is therefore able to use different kinds of s ensors at the same time to fulfill its task. The proposed solution focusses on a flexible system that suits the needs of the industry in respect of good maintainability, good robustness and high accuracy.