Вдосконалення роботизованої платформи Niryo One за рахунок оптимізації режимів роботи приводу. Частина ІІ

The paper considers the issue of improving the Niryo One robotic platform by optimizing the operating modes of the manipulator drive. The relevance of the research is due to the need to increase the efficiency and accuracy of robotic systems in industrial and research applications. The second part of the study presents the devel-opment of a mathematical model of manipulator dynamics, which takes into account the design features and parameters of the Niryo One platform. Based on the constructed manipulator model, the manipulator motion trajectories were optimized using the sequential quadratic pro-gramming method (SLSQP — Sequential Least Squares Programming). Optimization was aim at minimizing energy consumption and task execu-tion time while adhering to constraints on the dynamic characteristics of the system.The proposed approach to determining optimal driving modes based on numerical methods of nonlinear programming. As optimization result of trajectories were obtain that provide a reduction in the load on the drives and an increase in the smoothness of movement compared to typical modes, that can be implemented in standard plat-form software. A comparative analysis of optimal and typical driving modes was conduct based on the criteria of energy efficiency and work dynam-ics.The results obtained can be used to modernize existing and develop new control algorithms for two-mass robotic systems, as well as to increase reliability and service life. Prospects for further research been related to the adaptation of the de-veloped method for manipulators with other kin-ematic schemes and under conditions of variable external loads.