MANIPULATOR CONTROL METHOD Russian patent published in 2019 - IPC B25J9/00 

FIELD: robotics.

SUBSTANCE: invention relates to robotics and particularly to a manipulator control method mounted on a mobile robot base with a first vision system and a calibration tool using a second mobile robot with a second vision system. Coordinates of the characteristic point of the manipulator working member after movement of the working member to the calibration tool and using the first system of technical vision, equipped with a digital video processing system, deviation of the calibration tool from the characteristic point of the manipulator working member in the first coordinate system, which is rigidly connected to the base of the mobile robot, in which the manipulator operates, is recorded. Introducing a second vision system mounted on the base of the second random mobile robot in space separately from the first mobile robot, that its second system of technical vision could see manipulation object, which is not accessible for observation by the first system of technical vision, but is accessible for manipulator.

EFFECT: technical result consists in maintaining the specified accuracy of automatic performance of all prescribed manipulation operations.

1 cl, 1 dwg