RESEARCH ON THE OPTIMAL PERFORMANCE OF TASKS UNDER REDUNDANCY CONDITIONS IN THE CASE OF A ROBOT WITH FIVE DEGREES OF FREEDOM

The fulfillment of programmed tasks by industrial robots in redundant conditions occurs when a robotic system has more degrees of freedom than would be necessary to accomplish the task. From the point of view of mechanical modeling of robotic structures, this translates into the fact that the number of motor coordinates of the robot is greater than would be necessary and sufficient to ensure the position and orientation of the robot's end effector required by the task. In such situations, there is the possibility of optimally performing the programmed task under the conditions of meeting certain criteria that may refer to better accessibility of the robot's workspace in the presence of obstacles, achieving a minimum in terms of movements at the level of the robot's motor axes or obtaining motor coordinate values as far as possible from the edges of their variation ranges. The paper analyzes the case of a robot with five rotation modules whose task is to ensure a trajectory imposed at the origin of the coordinate system attached to its end effector. The redundancy case is analyzed by imposing as an optimization criterion the achievement of a minimum of displacements at the motor axes level of the analyzed robot. Finally, the results obtained for the variation of motor coordinates in the case of a linear interpolation of the end effector movement are presented.