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: robot end link is successively placed into two base positions so that axis of transducer sensitivity is parallel with one of axes of system of robot end link coordinates, which are perpendicular to axis of rotation of this link. After readings of transducer have been taken, end link of robot is placed in one of additional positions by turning this link through 180 deg about axis of its rotation and readings of transducer are taken again. Coordinates of center of measuring head tip in system of coordinates of robot end link are determined from half-differences of transducer readings for each base and additional positions. EFFECT: improved accuracy of determining position of measuring head tip. 3 cl, 3 dwg