INDUSTRIAL ROBOT MANIPULATOR WITH DOUBLE ENCODER SYSTEM AND ITS POSITIONING METHOD Russian patent published in 2019 - IPC B25J9/16 B25J13/00 

FIELD: robotics.

SUBSTANCE: invention relates to an industrial robot manipulator and a method of controlling positioning of a robot manipulator. Robot manipulator comprises a manipulator unit consisting of links connected by articulations forming a kinematic chain, and drives installed in joints to bring manipulator unit into motion, control unit, which sets movement of manipulator unit by supplying control signals to multiple drives, a plurality of first encoders mounted one on each drive, determining the angle of rotation of the drive shaft, and a plurality of second encoders mounted one at each joint, which define the angle of rotation of the joint. Control unit determines the value of the external load acting on the robot manipulator, based on the difference in readings of the plurality of first and second encoders and the previously known rigidity of each joint. Control unit provides determination of the deviation from the specified movement of the robot manipulator based on the determined value of the external load and the previously known rigidity of each joint and correction of control signals for eliminating deviation.

EFFECT: high accuracy of positioning a robot manipulator in space.

5 cl, 4 dwg