АВТОМАТИЧНИЙ ВИБІР КОНФІГУРАЦІЇ ПРОСТОРОВОГО МАНІПУЛЯТОРА З ШІСТЬМА СТЕПЕНЯМИ СВОБОДИ НА ПІДСТАВІ ЕНЕРГЕТИЧНИХ ВИТРАТ НА ЗАДАНОМУ РУСІ

The problem of automatically selecting the configuration of a robot manipulator from all possible configurations based on the evaluation of energy consumption during the operation process when performing a specific gripping movement is considered. Using the example of a welding manipulator with six degrees of freedom, formulas for the analytical computer solution of the inverse kinematics problem for a wide range of PUMA-type manipu- lators are presented. A distinctive feature of this algorithm is that each configuration of the manipulator links is defined by an individual value of one parameter. This allowed for the automatic generation of several configurations in the computer’s memory using one model description in a specialized computer algebra system, KiDyM (SCCA KiDyM). By modifying the existing algorithm for solving the inverse dynamics problem, which involves determining the movement of generalized coordinates by previously solving the inverse kinematics problem, it was possible to merge these two tasks into one. The first task allows for obtaining the laws of changing the rotation angles of the links for all configurations based on a given gripping motion. The second calculates the driving moments in the kinematic pairs immediately for all possible configurations of the mechanism and selects the optimal one with the minimum energy expenditure. Afterward, the corresponding movement of the manipulator can be implemented according to the obtained laws of angle changes. Examples of calculations for manipulator mechanisms are provided. A significant achievement of the work is the development of an analytical algorithm for solving the inverse kinematics problem for a wide range of PUMA-type manipulators using quaternions to define and obtain the orientations of the mechanism links. Thus, the obtained algorithm does not degenerate for any robot positions.