доктор технических наук;
doctor of technical sciences;
Рассмотрены математические модели систем управления промышленных роботов, позволяющие выполнить калибровку центра инструмента, закрепляемого на установочном фланце робота. Исследован первый этап ка-либровки инструмента, который состоит в определении точки центра инструмента (TCP – Tool Center Point).
A complex of measures on a new robot tooling envisages a fulfillment of the calibration procedure of the tool before its use in an operation. It is necessary for that the system of industrial robot control could carry out a tool travel in a robot operation space in the correct way. For that purpose the simulators describing coordinate transformations in this robot model must be supplemented by a simulator developed for the tool determined. Simulators describing coordinate trans-formations for a tool are created by a system of control automatically at the fulfillment of a tool calibration before the introduction of a new tool in operation. The simulators created are saved in permanent memory (ROM) of a controller of the control system in a tool library with the indication of logical naming for this tool. In the following at the pro-gramming of industrial robot motion a tool installed on a robot is pointed out to the system of control by means of logical naming a tool chosen. This paper reports the simulators for the tool center calibration of industrial robots corresponding to the methods used most commonly in practice of industrial robot operation. The simulators obtained can be used in systems for industrial robot control.