CONTROLLING MOVEMENT OF ROBOT RESILIENT STRUCTURES Russian patent published in 2013 - IPC B25J9/16 

FIELD: physics, robotics.

SUBSTANCE: invention relates to a method of controlling a painter robot and is characterised by the following steps: setting the path of the robot through several path points which must be passed by the base point of the robot, wherein separate points of the path are defined by corresponding spatial coordinates; converting the spatial coordinates of the separate points of the path according to inverse kinematics of the robot to corresponding coordinates $$\left(\underset{\_}{\theta }\right)$$ of axes which show the position of separate axes of the robot in corresponding points of the path; adjusting axial controllers (2) for separate axes of the robot according to the converted coordinates $$\left(\underset{\_}{\theta }\right)$$ of the axes; adjusting axial drive motors (1) of separate axes by corresponding controllers (2), wherein computation of adjustments $$\left(\Delta \left(\underset{\_}{\theta }\right)\right)$$ is provided for separate points of the path in accordance with a dynamic model (5) of the robot, wherein the adjustments $$\left(\Delta \left(\underset{\_}{\theta }\right)\right)$$ take into account resilience and/or friction and/or inertia of the robot; computation of the corrected coordinates $$\left({\underset{\_}{\theta })}_{KORR}\right)$$ of axes for separate points of the path based on uncorrected coordinates $$\left(\underset{\_}{\theta }\right)$$ of axes of separate pints of the path and path adjustments $$\left(\Delta \left(\underset{\_}{\theta }\right)\right)$$ and adjustment of axial controllers (2) with corrected coordinates $$\left({\underset{\_}{\theta })}_{KORR}\right)$$ of axes.

EFFECT: providing accuracy of robot positioning.

11 cl, 8 dwg