| 摘要 |
FIELD: physics, robotics.SUBSTANCE: invention relates to a method of controlling a painter robot and is characterised by the following steps: setting the path of the robot through several path points which must be passed by the base point of the robot, wherein separate points of the path are defined by corresponding spatial coordinates; converting the spatial coordinates of the separate points of the path according to inverse kinematics of the robot to corresponding coordinatesof axes which show the position of separate axes of the robot in corresponding points of the path; adjusting axial controllers (2) for separate axes of the robot according to the converted coordinatesof the axes; adjusting axial drive motors (1) of separate axes by corresponding controllers (2), wherein computation of adjustmentsis provided for separate points of the path in accordance with a dynamic model (5) of the robot, wherein the adjustmentstake into account resilience and/or friction and/or inertia of the robot; computation of the corrected coordinatesof axes for separate points of the path based on uncorrected coordinatesof axes of separate pints of the path and path adjustmentsand adjustment of axial controllers (2) with corrected coordinatesof axes.EFFECT: providing accuracy of robot positioning.11 cl, 8 dwg |
