In-situ calibration of shadow-imaging sensors

For the production of large sheet metal components in small quantities, incremental sheet metal forming by robots represents an economical and flexible forming process. However, the process is associated with geometric deviations of the formed sheets. To correct these deviations, the position of the robot-controlled tool shall be detected during the forming process. For this purpose, several shadow-imaging sensors are used, which have to be calibrated in the robot cell. Therefore, the aim of the project is to design and implement a calibration strategy for the robot cell. Finally, the calibration method must be evaluated on the basis of the remaining systematic measurement error.