METHOD OF CALIBRATING INDUSTRIAL ROBOT Russian patent published in 2024 - IPC B25J9/16 

FIELD: robotics.

SUBSTANCE: invention relates to robotics, specifically to methods of calibrating industrial robots. Method of calibrating an industrial robot is based on elastostatic calibration, for which a system describing a manipulator as a rigid model consisting of a fixed base was selected and a serial chain of pliable links, a number of pliable actuated hinges and a working member that contacts the part being processed, on which markers for measurements and a load suspension system are installed. To construct a rigidity model of the robot, the rigidity of each link is simulated using a spring with six degrees of freedom, three of which correspond to displacement, and three to orientation, and stiffness of the hinge by means of a spring with one degree of freedom located along the axis of rotation.

EFFECT: as a result, a stiffness matrix of the manipulator is obtained, which is processed by methods of numerical optimization algorithms to ensure the final accuracy for the target trajectory of the robot working element.

5 cl, 2 dwg, 3 tbl