INFORMATION AND COMPUTER COMPLEX FOR MODELING THE KINEMATICS OF A MANIPULATING ROBOT

The rapid spread of applying the manipulator robots in various areas of life requires the use of modern modeling methods to optimize the design of their structure, calculation of kinematics and motion, which are one of the key tasks of robotics. The work is devoted to the development of information and computing complex for studying the kinematics of a three-link manipulator using the Matlab Robotics Toolbox software package. The presented software implements the calculation of the direct and inverse kinematics problem, and also plans the manipulator motion trajectory. The Denavit-Hartenberg representation was used to specify the robot parameters, the inverse kinematics problem was solved by the gradient descent method, and the polynomial interpolation method was used to construct the motion trajectory. The developed information and computing complex allows to enter and change the manipulator parameters, run the appropriate algorithms for trajectory planning, determine the position and orientation of the working tool, and visualize its behavior in three-dimensional space.