FIELD: physics, computer engineering.
SUBSTANCE: invention relates to a method for off-line programming of a manipulator with digital control. A method, during operation of which a tool central point (TCP) follows at least one real motion trajectory at certain conditions with sensor support, wherein a kinematic model of the manipulator and a model of the manipulator environment are recorded in an off-line programming environment with a user interface, wherein through the off-line programming environment during a determination program, a determination is made of at least one virtual motion trajectory of the manipulator and the tolerance space associated with said motion trajectory, which reflects deviation of the trajectory from the virtual motion trajectory, wherein through the off-line programming environment during a verification program, a predefined tolerance space is verified at least in part with respect to kinematic singularities of the manipulator and a singularity program is executed upon the appearance thereof.
EFFECT: low risk of occurrence of singularity.
18 cl, 5 dwg
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