Resumen
[0001] A method comprising: tracking a robot, based on the distance between a robot point and a reference point. This distance is obtained by means of a sensor; an extendable type measuring device with an articulation at each of its ends, one for a robot point and the other for the reference point, which makes it possible to track the movements of a robot; a relative displacement and guidance mechanism to ensure the proper transmission of micromovements; the determination of the deviations of a robot with respect to a reference point, introducing the calculation according to embodiments. deviations of a robot from its nominal position, from the measurement between a robot element and a reference point; and obtaining the deviations in the movements of a robot, according to the path executed, from the projections of these deviations obtained according to the geometry held at each nominal position of the path.
Reivindicaciones
1. A system comprising: a sensor for distance measurement; at least one processor communicatively coupled with the sensor; at least one memory; an extendable type measuring device with an articulation at each end, a first articulation being configured for a robot point and a second articulation being configured for a reference point, the measuring device being configured to allow tracking of movements of a robot, and the sensor being arranged on the measuring device; and a relative displacement and guidance mechanism configured to extend the measuring device according to the movements of the robot; and wherein the at least one processor and the at least one memory are configured to perform the following: tracking the robot from a distance between the robot point and the reference point based on one or more sensor distance measurements; determining deviations of the robot from a nominal position of the robot from measurements between the robot point and the reference point; calculating deviations in robot movements, when the robot executes a path, at least based on projections of the robot's deviations from its nominal position according to a geometry held at each nominal position of the path. 2. The system according to claim 1, wherein the at least one processor and the at least one memory are further configured to determine a positioning accuracy of the robot and/or a trajectory accuracy of the robot and/or dynamic parameters of the robot. 3. A system according to any one of the preceding claims, wherein the calculated deviations comprise one or more of: total deviation (ΔI<i>), radial deviation (δrad<i>) according to a radius described by the motion to be performed by the robot element, transverse deviation (δtrans<i>) according to a vector normal to a plane containing the motion to be performed by the robot element, and tangential deviation (δtan<i>) orthogonal to each of the radial and transverse deviations. 4. A system according to any one of the preceding claims, wherein the measuring device comprises a hollow body with a piston rod arranged to slide through the hollow body; and wherein the sensor is mounted on the hollow body configured to measure the distance through the hollow body and, optionally, the piston rod. 5. A system according to any one of the preceding claims, wherein the sensor is of the interferometric head type and is at least micrometer resolution. 6. A system according to any one of the preceding claims, wherein the system comprises a single sensor, the sensor being the only sensor. 7. A system according to any one of the preceding claims, wherein the system does not comprise a laser tracker and/or a camera. 8. A method comprising: tracking a robot from a distance between a robot point and a reference point external to the robot by means of distance measurements from a sensor; determining deviations of the robot from its nominal position from the distance measurements; calculating deviations in movements of the robot, according to a path executed by the robot, at least based on projections of the deviations of the robot from its nominal position according to a geometry held at each nominal position of the path. 9. The method according to claim 8 further comprising determining a pose accuracy of the robot and/or a path accuracy of the robot and/or dynamic parameters of the robot. 10. The method according to claim 9 further comprising: commanding movement of the robot according to a predetermined trajectory; and commanding the robot to stop moving the robot when the determined motion accuracy and/or path accuracy and/or dynamic parameters are outside a predetermined range associated with a performance determined to be acceptable. 11. A method according to any one of claims 8-10, wherein calculating deviations in robot motions comprises calculating one or more of the following deviations: total deviation (ΔI<i>), radial deviation (δrad<i>) according to a radius described by the motion to be performed by the robot element, transverse deviation (δtrans<i>) according to a normal vector of a plane containing the motion to be performed by the robot element, and tangential deviation (δtan<i>) orthogonal to each of the radial and transverse deviations. 12. A method according to any one of claims 8-11, wherein the sensor is arranged in an extendable type measuring device having a joint at each of its ends, a first joint being configured for a robot point and a second joint being configured for a reference point. 13. A data processing device or system comprising means for carrying out the method of any one of the preceding claims. 14. An assembly comprising the data processing device or system of claim 13 and a robot communicatively coupled to the data processing device or system, the robot optionally including the data processing device or system. 15. A computer program comprising instructions that, when the program is executed on the at least one processing device, causes the at least one processing device to carry out the method of any one of claim 1 to claim 10.
