METHOD OF PROGRAMMING THE RECONFIGURED MANIPULATOR Russian patent published in 1995 - IPC

FIELD: mechanical engineering. SUBSTANCE: manipulator is put into the state in which grip 6 is found as fixed relative to fixing member 7. Grip 6 captures the fixing member and thus it is fixed relative to the latter. Then the values of the generalized coordinates of the manipulator are measured and stored at the given state of the grip and the configuration of reconfigured link 5. After that not changing the parameters of the reconfigured link, working body 6 is put into the programmable position and the values of the generalized coordinates are measured and stored. In this way each programmable position is presented at two sets of the generalized coordinates. EFFECT: enhanced accuracy of the position of the manipulator working body. 2 dwg