METHOD AND SYSTEM FOR DETERMINATION OF AT LEAST ONE PROPERTY OF A JOINT Russian patent published in 2018 - IPC B25J9/16 

FIELD: machine industry.

SUBSTANCE: invention relates to a method for determining articulation characteristic (112, 114, 116–119, 180) affecting the accuracy of manipulator (110) movement. Said coupling is adapted to be actuated by at least one drive, the drive is adapted to actuate said joint (112, 114, 116, 119, 180) by means of a transmission. Fixing (200) of the indicated joint is carried out so that its movement is limited. Said transmission is actuated (210), with simultaneous tracking of at least one value, which represents the torque of said drive, and at least one value representing the position of the drive. At least one output value of said drive is determined (220). Indicated output value corresponds to at least one joint position. And determine (230) at least one property of the joint based on said at least one output value.

EFFECT: invention provides an accurate determination of the articulation parameters for calibrating the positions and movements of the robot.

21 cl, 14 dwg