FIELD: physics.
SUBSTANCE: invention relates to machining workpieces (3) by means of end effector (4) of manipulator (2). Method of compensating deviation of operating point (1) during processing includes processing sequence of commands for setting manipulator (2), generation of information (5) on nominal position based on said sequence of commands in accordance with rated position (6) of operating point (1), wherein information (5) is processed by set (7) of compensation parameters to find compensation value (8), according to which information (5) is adapted to reduce deviation (9) between actual position (10) of operating point (1) and its rated position (6), based on comparison between measured actual position (10) of operating point (1) and its nominal position (6) determining correcting value (12), based on which during processing of workpiece (3) adapted set (7) of compensation parameters to reduce said deviation (9).
EFFECT: use of invention increases accuracy of development of manipulator setting commands (2) and accordingly quality of workpieces (3) processing.
15 cl, 2 dwg
