FIELD: robotics.
SUBSTANCE: method and device for performing an operation on a workpiece using a multi-axis pliable working body for attachment to a robotic device are claimed. The working body is placed at the nominal location of the workpiece element, in relation to which it is necessary to perform a given operation. The working body is passively aligned with the workpiece element by ensuring the contact of the working body with the specified workpiece element. The specified operation is performed on the workpiece element in response to the alignment of the working body with the specified workpiece element. The proposed method and device make it possible to align the working body with the workpiece elements in situations in which there are potential differences between the nominal locations of the workpieces and the workpiece elements and the actual locations of the workpieces and the workpiece elements.
EFFECT: this capability makes it possible to re-use programs along the trajectory of the robotic device without the need to reprogram the robotic device, which is used in situations where leveling contact with the workpiece is allowed.
24 cl, 29 dwg
