Sazonov A. Automation of the industrial robots' accuracy control on the flexible integrated systems synthesis

The thesis is devoted to problem of quality improving and work content reducing of complex and space distributed organizational and technical facilities and systems design, especially flexible manufacturing cell (FMC) as a part of flexible integrated systems (FIS), through the development and application of information, methodological, algorithmic support of decision support systems software in the synthesis of FMC. Structurization of the existing methods and tools of the Industrial Robots' (IR) accuracy characteristics determination is made on their analysis. Meaningful essence of this one is the basis for the implementation of the proposed decision support system for IR accuracy automated control. Negative influence of the force conflict on the flexible manufacturing cells (FMC) working positions technological service by industrial robots is defined, whereby known methods and tools of the IR pose accuracy improvement are systematized. The possibilities of IR handling systems concerning IR pose accuracy automated control on the stages of FMC synthesis and their working positions technological service by means of pose error value dependence on Coming-up vector in any point of the IR work space and IR handling system configurational condition. It is proposed the organizational structure of the decision support system for the solving of the IR pose accuracy automated control on stage of the FMC synthesis and their working position technological service, knoware and software of the decision support system for IR pose accuracy on stage of FMC synthesis and their working positions technological service are also developed. Proposed Q-model of the IR accuracy characteristics is the base of developed decision support system.