METHOD FOR SOLVING THE KINEMATICS INVERSE PROBLEM FOR MOVING ALONG A TRAJECTORY OBJECTS (AS AN EXAMPLE OF ASSEMBLY INDUSTRIAL ROBOTS)

Abstract

The task of performing a technological operation in kinematic calculation of industrial robots and determining various kinematic parameters describing the efficiency of robots is solved. Among them, one of the urgent problems based on the analysis of the entire kinematics of the assembly industrial robot is the problem of solving the inverse problem of the kinematics of the manipulator positions, that is, the problem of determining the relative parameters that change the coordinates of the gripper according to the given position. The article presents a scheme that allows solving the inverse kinematics problem of an industrial robot manipulator moving in an adaptive position-trajectory with six degrees of freedom. Also, a general efficient algorithm for solving the inverse problem of the kinematics of the positions of the assembly industrial robot moving along the trajectory has been developed. These calculation algorithms and methods can be used for some typical schemes of the assembly industrial robots moving along the trajectory and for solving the inverse problems.