METHOD FOR INCREASING THE ACCURACY OF MOVEMENTS OF AN INDUSTRIAL ROBOT IN THE PROCESS OF INCREMENTAL SHAPING Russian patent published in 2021 - IPC B21D22/20 B21D31/04 B25J9/16 G05B19/4097 

FIELD: robotics.

SUBSTANCE: invention relates to the field of robotics, and in particular to methods for positioning industrial robots. To improve the positioning accuracy of an industrial robot in the process of incremental shaping, the position of the tool relative to the base surface, which is set using 4 spherical reflectors, is estimated from the measurement results using a laser tracker. When measuring the position of the tool center of the robot manipulator, a spherical reflector is installed next to it, the position of which relative to the base plane is determined from the results of measurements using a laser tracker having a scanning frequency corresponding to the clock frequency of the robot manipulator. At the point corresponding to the initial position of the punch, the coordinates of the tool center of the robotic arm are measured to estimate the measurement error and calibration of the robot, and the mismatch between the specified and real trajectory of the robot's movement is estimated by comparing the current and real coordinates of the tool center of the robot at specified points at each step of the deepening punch, with a step-by-step movement of the tool, or a turn, with a spiral movement of the tool, with the formation of a correction signal in case of exceeding the permissible value determined by the specified processing accuracy.

EFFECT: increasing the positioning accuracy of the robot, taking into account the real trajectory of movement of the robot manipulator, due to the influence of external factors, for example, pressure, temperature, as well as kinematic errors of the robot, the rigidity of the joints of the robot.

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