A multiphase method and algorithm of measurement the spatial coordinates of objects for teaching of assembly robots

The researches of the Multiphase Method and the robast control algorithm of the fuzzy logic, based on the Model Memory of the Shape for assembly robots with reference to the task of measurement of coordinates for the autonomous assembly robots and the space manipulators is submitted. Also, there are submitted the software and the instrumentation of the optical television system used for 6-coordinates assigning glove for the control of the robot in a real time mode, and outcomes of experimental researches of dynamic parameters and estimations of accuracy of the optic-television system, and also, the experiments on usage of a method of the teaching by a show for the assembly manipulators. This paper is supported by the Project INTAS № 96-049 "Assembly robotics, robast forcetorque control, optimal planing based on the fuzzy logic".