METHOD AND SYSTEM FOR CONTROLLING ROBOT Russian patent published in 2004 - IPC

FIELD: systems for controlling three-dimensional position of positioning head of robot, correction of head position. SUBSTANCE: robot includes at least three setting mechanisms being telescopic in lengthwise direction. Each setting mechanism is mounted by means of first hinge in stationary frame with possibility of rotation in all directions relative to frame. Each setting mechanism is joined by its one end through second hinge with movable positioning head. Rigid manipulator is joined with said head in such a way that it passes between setting mechanisms. Manipulator is held by means of universal joint in radial direction but it may move along its axis relative to said joint rigidly connected with frame. Each setting mechanism has pickup (LS₁, LS₂, LS₃), for measuring length forming part of system S1 for controlling position (X, Y, Z) of positioning head in working zone of robot. System S1 engages with system R2 for feedback control designed for correcting position of head in working zone of robot. System S1 for controlling position and system R2 for feedback control are provided with different coordinate systems. EFFECT: enhanced accuracy of positioning. 8 cl, 3 dwg