ANALYSIS OF ACCURACY PROBLEMS OF PRECISION INDUSTRIAL ROBOTS

摘要

The article highlights the issues of compliance of the mechanics of manipulators of precision industrial robots (PIRs) with the highest accuracy standards specified in the normative technical documentation and practically achieved in the fields of machine-building, instrument-making and electronic industries. In the spotlight there are the possibilities of systems of multi - connected control of complex spatial mechanisms with excessive degrees of freedom (including manipulators of PIRs), the possibilities of systems of multi-circuit control of PIR drives with precision sensors of linear and angular displacements, velocities, accelerations, acceleration gradients (in the future), the issues of matching these parameters with the parameters of the computational part of control systems - the bit depth of digital sensors (more than 20 digits) with an resolution of less than an arc second. PIR manipulators are used in systems of multi-connected and multi-circuit regulation and control with elements of artificial intelligence, such as automatic adjustment systems (AASs), automatic control systems (ACSs) and artificial intelligence systems (AISs). These problems are considered in a wide range, including the transition to the field of nanotechnologies, specifically: for linear (nanometers) and angular (hundredths of arc seconds) measurements, as well as the measurements of velocities, accelerations, and acceleration gradients (in the future - for systems with a human operator in the loop, i.e. human-machine systems (HMSs)).