METHOD FOR INCREASING ACCURACY OF POSITIONING INDUSTRIAL ROBOTS

摘要

FIELD: robotics.;SUBSTANCE: invention relates to the field of robotics, and in particular to methods for positioning industrial robots. To calibrate non-kinematic parameters, the coordinates of the point on the wrist of the robot are measured at given coordinates of the location of the robot with the workload during the rotation of the longest links A and B with a given step. It is followed by calculating the function of the specific error of the angle of rotation of the link B from the angle of the link B to the horizon and the set of functions of the specific error of the angle of rotation of the link A from the specified angle of the link A to the horizon for all measured angles of the link B. Changes are made to the kinematic model of the robot, while the angular correction for the links A and B is calculated by integrating the function of the specific error of the angle of rotation of the corresponding link in the area between the maximum of the function and the specified value of the angle of rotation of the link to the horizon.;EFFECT: invention aims to improve the positioning accuracy of the robot, taking into account the workload.;3 cl, 5 dwg