Adaptation of the program for positioning direction of handling robot to working space for installation during systematic plane errors

The paper presents a method to compensate for the systematic plane error of a handling robot while executing installation operations of the flat installation type of plane objects or box covers with small overlap height. The method may also be used in the welding and cutting of plane contours. The systematic error is found on the basis of position measurements at three points, and the necessary correction of the program is calculated. Thus, by the start of the production process, the robot positions the objects exactly or executes the contour operations with high precision.