MANIPULATOR CONTROL METHOD Russian patent published in 2021 - IPC B25J9/00 B25J5/00 G01C21/00 G05B13/00 

FIELD: robotics.

SUBSTANCE: manipulator control method relates to robotics, in particular to control systems for manipulators located on mobile robots (MR), and can be used when performing various works using mobile robots in automatic mode under extreme conditions. This method increases the speed of performance of all prescribed manipulation operations while maintaining the specified accuracy of their execution, as well as ensuring that the current arbitrary spatial orientation of the bases of both MRs in the absolute coordinate system is taken into account. In addition, the specified accuracy of the automatic operation of the manipulator is maintained with full consideration using gyroscopes of the current position and spatial orientation of the bases of both MRs in the absolute coordinate system. This allows the MP being used to work in very rough terrain.

EFFECT: increasing the speed of performing all prescribed manipulation operations by eliminating the need to perform test movements of the manipulator working body, as well as simplifying the MP design by eliminating the calibration tool.

1 cl, 1 dwg