METHOD FOR DETERMINING POSITION OF ROBOT MEASURING HEAD TIP AND DEVICE FOR EFFECTING THE SAME Russian patent published in 1994 - IPC

FIELD: mechanical engineering. SUBSTANCE: measuring head body is secured to flange of robot end link. Mounted on base at right angles to each other are linear displacement transducers. For determining position of measuring head tip robot end link and transducers are set into initial relative position so that axes of transducers sensitivity are in parallel with axes of symmetry of coordinates of robot end link. After readings of transducers have been taken, end link of robot is turned about its axis of rotation through 180 deg and readings of transducers are taken again. Coordinates of center of robot end link are determined from half-differences of readings of corresponding transducer for two fixed positions of robot link. EFFECT: improved accuracy of determining position of measuring head tip. 3 cl, 3 dwg