FIELD: machine engineering, namely methods for monitoring parameters of contour movements of industrial robots.
SUBSTANCE: method is realized due to registering in control system geometry reference dimensions and also reference values of mass parameters and center of mass. Admissible values of scattering of measurement results of contour movement accuracy of manipulator are also registered. Method comprises steps of determining fluctuations of manipulator path from preset one; calculating value of scattering of measurement results of contour movement accuracy per time unit; comparing calculated values with admissible ones; judging accuracy degree of contour movements of manipulator and detecting presence/absence of defects in units of mechanical drive of manipulator.
EFFECT: enhanced accuracy of monitoring contour movements of robot, improved reliability of measurement results.
3 dwg
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0 |
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Authors
Dates
2005-05-27—Published
2003-09-15—Filed