SOLVING THE THREE-DIMENSIONAL INVERSE KINEMATICS PROBLEM OF A FOUR-LINK MANIPULATOR

The article considers the solution of the inverse kinematics problem in three-dimensional space using the example of a parameterized virtual model of a four-link manipulator with a deterministic angle of position of the output link of the manipulator to the horizontal impact surface with the practice of implementing the proposed solution in a programming language vb.net. One of the advantages of virtual technologies of three-dimensional design is the versatility of their applied aspect of use, in particular in the processes of studying the patterns of interrelationships of motion mechanics in a three-dimensional coordinate system using a built-in parameterization system that allows changing the external parameters of the mechanism while maintaining internal connections. The use of virtual tools makes it possible to determine the patterns of motion at the design stage, establish relationships and deduce, among other things, mathematical dependencies of the studied processes of mechanics. In particular, the study of the mechanics of motion of industrial manipulators in a three-dimensional virtual environment, in addition to illustrating the process under study, allows, by changing their geometric parameters, the relative position of links and inter-link angles, taking into account the degrees of freedom inherent in the design, to solve spatial kinematic problems, establishing dependencies based on the classical mathematical apparatus. The proposed solution to the inverse kinematics problem has an applied aspect of use, which consists in implementing the proposed solution in a control program in the language vb.net performed, among other things, in the form of an application that performs an automated calculation of the inter-link angles of the paired links of the manipulator involved in the process under study , depending on the three-dimensional coordinates of the sequential position of the output link of the manipulator in space planned by the operator or technologist on the basis of the performed the technological process.