FIELD: robotics.
SUBSTANCE: invention relates to a method for adaptive compensation of gravity for a manipulator with several loads. For effective gravity compensation, the following steps are carried out: S1.1—constructing a kinematic model of the manipulator, S1.2—restoring the component of gravity of the kinematic model, S1.3—collection of data in static position without load, S1.4—collection of data in static position after installation of each tool, S1.5—calculation of values of parameters to be calibrated, for each tool, S1.6—calculation of mass and center of mass corresponding to each of tools, S2.1—calculation of force applied by the installed tool to the flange, S2.2—compensation of gravity force for the tool.
EFFECT: method, device and control device for self-adaptive compensation of gravity force of manipulator with several loads.
1 cl, 1 tbl, 4 dwg
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