Mathematical Model of Industrial Manipulator Control Algorithms

A mathematical apparatus for forming motion trajectories of an industrial manipulator when performing technological operations has been developed. Algorithms for the mathematical apparatus are created, which are integrated into a simulation model. A kinematic diagram of a six-tree manipulator is drawn up for conducting research on motion trajectory planning. Algorithms for solving the forward and inverse problem of kinematics and motion planning of the manipulator are derived. The proposed algorithms are interpreted in program form in C# language. The results of the study were visualized in an environment for 3D viewing with the possibility of adjusting the input characteristics of the simulation model. The obtained software solution allowed to simulate the motion trajectory of the manipulator links with an accuracy from 0.1° to 1° at a calculation time of ≈15.62 milliseconds.