BENCH TO CONTROL ACCURACY OF CONTOUR MOVEMENTS OF INDUSTRIAL ROBOT Russian patent published in 2013 - IPC B25J19/00 

FIELD: measurement equipment.

SUBSTANCE: invention relates to measurement equipment and may be used to inspect parameters of contour movement of robots, such as accuracy, repeatability, vibration. A bench to control accuracy of contour movements of an industrial robot comprising a manipulator 1 with a calibrating tool 7 fixed on a flange 6 of its last link and ending with a sphere 8, comprises a system 2 for manipulator control, measurement equipment and recording equipment in the form of a personal computer 5. The measurement equipment is represented by an optical measurement system with a video camera 3, connected via an analogue to digital converter 4 to the personal computer. Besides, the video camera is installed as capable of capturing the entire working zone 10 of the manipulator, and the sphere of the calibrating tool is arranged with the diameter, the value of which is entered into the personal computer memory. The system for control of industrial robot manipulator is programmed as capable of changing orientation of a calibrating tool in the space by maximum possible angles specified by the kinematic circuit of the manipulator, when the sphere of the calibrating tool is fixed in different sectors of the manipulator working zone.

EFFECT: invention provides for higher information value of results due to control in all areas of a manipulator working area and higher accuracy of the produced result.

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