Method for compensating non-
geometric error influences on an
absolute accuracy of a
robot (110) by means of a
laser sensor system, wherein the
robot (110) comprises a plurality of elastic elements (111, 112, 113, 114, 115, 116, 117) and a
control unit (140), wherein an elastic element (111, 112, 113, 114, 115, 116, 117) is a
rigid body (111, 112, 113) or a joint (114, 115, 116) or an
effector (117) or a
robot base (120), wherein at least one
radiation pattern generator (131, 132) is arranged stationary in an environment of the robot (110) within a
workspace (200) or outside the
workspace (200), wherein at least one
radiation pattern is radiated through the
working space (200) of the robot (110) by means of the at least one
radiation pattern generator (131, 132), wherein the at least one
radiation pattern comprises at least one
laser light beam and / or at least one
laser light plane, wherein at least one sensor (130) with at least one light-sensitive surface is arranged on the
effector (117) of the robot (110), wherein the robot (110) is successively controlled by the
control unit (140) into a plurality of measuring configurations in which the at least one
radiation pattern impinges on the at least one light-sensitive surface, wherein the robot (110) is controlled in accordance with robot structural information stored electronically in the
control unit (140), wherein a position of a projection of the at least one
radiation pattern onto the at least one light-sensitive surface is detected by the at least one sensor (130) and measurement information describing the position is forwarded from the at least one sensor (130) to a computing unit (150), wherein torques act on the elastic elements (111, 112, 113, 114, 115, 116, 117, 120) due to an external force depending on a respective joint configuration and where the robot structural information is inaccurate due to non-
geometric error influences, characterized by that the at least one radiation pattern is radiated through the
working space (200) and the plurality of measuring configurations (I, II, III, IV) is selected such that for at least one elasticity element (111, 112, 113, 114, 115, 116, 117, 120) from the plurality of elasticity elements (111, 112, 113, 114, 115, 116, 117, 120) there is at least one pair of measuring configurations (I, II, III, IV) for which the absolute value of the difference between the torques of the at least one pair of measuring configurations on the at least one elasticity element (111, 112, 113, 114, 115, 116, 117, 120) is greater than a target value, that on the light-sensitive surface of the at least one sensor (130) a deviation from a straight line and / or plane implicitly predetermined by the at least one radiation pattern and its
beam direction as well as its radiation pattern orientation is taken into account, by implicitly comparing the position of the projection detected by at least one sensor (130) for each of the plurality of measurement configurations (I, II, III, IV) with a position of the projection determined on the basis of the faulty robot structure information, and that corrected robot structural information is generated to compensate for the non-
geometric error influences from the deviation.