METHOD FOR POSITIONING MANIPULATOR GRIP Russian patent published in 2006 - IPC B25J13/00 

FIELD: robotics engineering.

SUBSTANCE: method involves controlling manipulator for mechanical gripper to reach orienting device having slider with a notch thereon on assembly table. The mechanical gripper is fixed after having reached the orienting device, in setting the fixing member into the orienting device notch. Manipulator drives are disengaged and mechanical gripper holding a piece is set in motion along trajectory specified by the orienting device to achieve assembled pieces axes coincidence. Next to it, the manipulator drives and orienting device are controlled with single control unit. The assembled pieces axes coincidence being achieved, the mechanical gripper accomplishes assembly operation and returns to its initial position.

EFFECT: increased mechanical gripper positioning accuracy.

2 dwg