FIELD: manipulators.
SUBSTANCE: invention relates to a method and system for determining compliance associated with a selected axis of a manipulator. Method is used to control a manipulator in such a way that certain values associated with the drive torque and / or joint position can be determined for a certain kinematic configuration of the manipulator. Depending on the complexity of the manipulator, the manipulator is controlled in a plurality of different kinematic configurations in which configurations the quantities are determined. Thereafter, a stiffness matrix for each component of the manipulator is determined, and a global stiffness matrix for the total manipulator is determined in order to determine the compliance of the selected axis.
EFFECT: invention enables to model the elasticity of the links and joints of a manipulator and to determine the resulting compliance.
36 cl, 13 dwg
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