Calculation and Optimization of Industrial Robots Motion

Abstract

This paper considers a problem of improving automated industrial manufacturing systems with a help of low-costs robotics manipulators with a programmed control. For widespread use at various industrial enterprises of robots-manipulators with programmed control without expensive sensors and elements of artificial intelligence, we use methods of determining the spatial and kinematic characteristics of the working body of the manipulator. The method of determining the kinematic characteristics is based on the matrix method in the kinematics of robots and the second-order Lagrange matrix equations in dynamics. The method allows to calculate the optimal modes of movement of the manipulator, to increase the speed of operations on the production line. The presented approach makes it possible to optimize the number of multipurpose manipulators with programmed control for various technological operations, and also allows to increase the productivity of a robotic production line.