We describe a device for calibrating an irradiation system of an apparatus for producing a three-dimensional workpiece, the irradiation system comprising an irradiation unit for selectively irradiating an irradiation beam onto an irradiation plane, wherein the device comprises: a control unit configured to control the irradiation system to irradiate the irradiation beam onto the irradiation plane, and an optical detection unit coupled to the control unit, wherein the optical detection unit comprises an optical detector and an objective lens for optically detecting a portion of the irradiation plane, wherein the optical detection unit is configured to detect a position of a spot of the irradiation beam on the irradiation plane, wherein the objective lens is adapted to be arranged, with respect to an irradiation beam path of the irradiation beam, between the optical detector and an irradiation beam scanner of the irradiation system, wherein the optical detection unit is configured to detect the position of the spot of the irradiation beam in multiple focal planes based on a focal length of the optical detection unit being adjustable, wherein the optical detection unit is configured to output a signal to the control unit in response to the optical detection unit detecting the position of the spot of the irradiation beam on the irradiation plane, and wherein the control unit is configured to control the irradiation system based on the signal output from the optical detection unit to the control unit.

A camera and a robot system are provided. The camera includes a camera body attached to a tip of a robot arm and a camera unit housed in the camera body. The camera unit has a plurality camera devices that are different in optical characteristics for imaging a workpiece.

A method for the control of a robot assembly having at least one robot. The method includes acquiring pose data from an object arrangement having at least one object, which data has a first time interval; determining modified pose data from the object arrangement, which data has a second time interval that is larger or smaller than the first time interval, or is equal to the first time interval, on the basis of the acquired pose data; and controlling the robot assembly on the basis of said modified pose data.

A procedure for calibration of at least one scanning system of a laser sinter or laser melt facility can be carried out in a short time, can take place automatically, and thereby can be carried out before each individual construction process. The procedure may include generation of at least one line pattern through at least one scanning system on a surface at the level of a construction field.

A camera and a robot system are provided. The camera includes a camera body attached to a tip of a robot arm and a camera unit housed in the camera body. The camera unit has a plurality camera devices that are different in optical characteristics for imaging a workpiece.

A method for the control of a robot assembly having at least one robot. The method includes acquiring pose data from an object arrangement having at least one object, which data has a first time interval; determining modified pose data from the object arrangement, which data has a second time interval that is larger or smaller than the first time interval, or is equal to the first time interval, on the basis of the acquired pose data; and controlling the robot assembly on the basis of said modified pose data.

The invention concerns a method for calibration of at least one scanning system of a laser sintering or laser melt facility with the further characteristics of the preamble of Claim 1.

A method and a device for orienting an effector relative to a surface by means of a device comprising an articulated arm, at least one tool which is designed to carry out an assembly step, at least three sensors and a controller. The method comprises the steps of determining by the controller the position of the sensors on the effector and rotating the articulated arm according to at least one dimension, so as to orient the tool carried by the effector according to an angle which is predetermined relative to the normal to the surface.