FIELD: robotics.
SUBSTANCE: method comprises defining a Cartesian coordinate system on the carriage so that the x-axis is directed horizontally, y-axis is directed vertically, and z-axis defines the right triple. The carriage has four bearing points lying symmetrically with respect to the center of the coordinate system at a distance from the x-axis and y-axis. The vertical interconnected pipes filled with fluid and provided with level meters are mounted on the carriage. The level of fluid in each of the pipes is determined, and parameters characterizing the orientation of the carriage is calculated from the formula presented.
EFFECT: enhanced precision.
1 dwg
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