METHOD OF CONTROL OF ACCURACY OF PROFILED MOVEMENTS OF INDUSTRY ROBOTS Russian patent published in 2012 - IPC B25J19/00 

FIELD: machine building.

SUBSTANCE: sizing tool with tip in the shape of sphere is installed on manipulator flange, sphere centre coordinates are aligned with coordinates of characteristic point of manipulator work member, accepted value of error of manipulator positioning. Sphere of sizing tool is brought by manipulator to point of control by measurement, initial coordinates of centre of sizing tool sphere in this point are determined and memorised. Orientation of sizing tool in space is changed to maximum possible angles determined by kinematic diagram of manipulator, deviations of coordinates of sphere centre of sizing tool from initial values are determined and recorded. These deviations are compared to accepted values of error of manipulator positioning according to which accuracy of manipulator profiled movements is assessed. Then deviation of coordinates of centre of sizing tool sphere is determined using optical measuring system designed with possibility of digital processing of video data. Control by measurement is performed in more than one point located in various sectors of manipulator working area determined by its kinematic diagram.

EFFECT: improving increase information capacity and measurements accuracy.

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