FIELD: construction.
SUBSTANCE: invention relates to construction, namely to the field of engineering and technical equipment, in particular to machines for geological engineering operations. The machine for geological engineering operations consist of a transportation body, a manipulator connected to the transportation body and having several degrees of freedom of movement relative to the said body. A system for determining the position and angular orientation of the manipulator located on the manipulator and configured to obtain information about the position and angular orientation of the manipulator in real time to display the position and angular orientation of the manipulator in the workspace in real time. The manipulator deflection compensation system comprises a memory device and a controller, wherein the memory device is configured to store deviation compensation data obtained as a result of experiments or simulation. The controller is connected by signal transmission to the system determining the position and angular orientation of the manipulator and to the memory device. It is designed to obtain the theoretical coordinates for a given point on the manipulator in a state in which the bending deformation of the manipulator is not taken into account, in accordance with real-time information about the position and angular orientation of the manipulator. It is capable of obtaining the given coordinates for a given point in accordance with the theoretical coordinates and deviation compensation data. The specified coordinates are used to obtain the target position and the target angular orientation required to adjust the position and angular orientation of the manipulator, so that the coordinates of the specified point in the workspace reach the theoretical coordinates in a state in which the bending deformation of the manipulator is taken into account.
EFFECT: increased accuracy of construction work and efficiency of machine operation.
20 cl, 7 dwg
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