Abstract: A method for calibrating a system with a conveying apparatus and at least a first robot includes determining the positions of at least three measuring points of a first component transported by the conveying apparatus in a first transport position using the first robot. The method further includes determining the position of at least one of the measuring points in a second transport position using the first robot, or determining the positions of at least two of the measuring points of the component in a third transport position and the position of at least one other measuring point in the third transport position or at least one of these measuring points in a fourth transport position using at least one second robot.

Abstract: A method for calibrating a system with a conveying apparatus and at least a first robot includes determining the positions of at least three measuring points of a first component transported by the conveying apparatus in a first transport position using the first robot. The method further includes determining the position of at least one of the measuring points in a second transport position using the first robot, or determining the positions of at least two of the measuring points of the component in a third transport position and the position of at least one other measuring point in the third transport position or at least one of these measuring points in a fourth transport position using at least one second robot.

Abstract: A measuring apparatus (1; 1?) for measuring a manipulator (10), with a measuring body (2; 2?) having at least one measurement point (3; 3?) that is fixed in relation to the measuring body for determining a position (TTCP,3; TTCP,3?) relative to a reference point (TCP) that is fixed in relation to the manipulator, and an attaching device connected to the measuring body (2) for fixing on the surroundings, includes at least one calibration point (7; 7?) connected to the measuring apparatus for determining a position (TR, M; TR,M?) relative to the surroundings and/or at least one measurement point (6) positioned on the attaching device.

Abstract: A method according to the invention for operating a manipulator, in particular a robot (1), includes the following steps: determining (S10) parameters (c?, c?) of an exactly positioned manipulator model (M) with various nominal loads (m?, m?); specifying parameters (c) of the manipulator model on the basis of which the manipulator is operated, depending on a payload (m) of the manipulator (S20); and operating the manipulator on the basis of the manipulator model (S30, S40).

Abstract: A measuring apparatus (1; 1?) for measuring a manipulator (10), with a measuring body (2; 2?) having at least one measurement point (3; 3?) that is fixed in relation to the measuring body for determining a position (TTCP,3; TTCP,3?) relative to a reference point (TCP) that is fixed in relation to the manipulator, and an attaching device connected to the measuring body (5) for fixing on the surroundings, includes at least one calibration point (7; 7?) connected to the measuring apparatus for determining a position (TR, M; TR,M?) relative to the surroundings and/or at least one measurement point (6) positioned on the attaching device.

Abstract: A method according to the invention for operating a manipulator, in particular a robot (1), includes the following steps: determining (S10) parameters (c?, c?) of an exactly positioned manipulator model (M) with various nominal loads (m?, m?); specifying parameters (c) of the manipulator model on the basis of which the manipulator is operated, depending on a payload (m) of the manipulator (S20); and operating the manipulator on the basis of the manipulator model (S30, S40).