A technique for solving kinematic problems for an arbitrary robot design

In this work, we aim to develop a methodology for solving kinematic problems for a robot with a serial connection of links of various movement types. The research methodology included the methods of trigonometric transformations, algorithmization, and programming. As a result, a program for solving direct and inverse problems, and a kinematic diagram of the robot and its working area was developed. The program can be used to optimize the process of developing automated lines based on robots in the field of organizing space or selecting the design of a manipulator. The presented algorithms can be applied in control systems to transform coordinates, thereby shifting from positioning by specifying displacements to positioning by Cartesian coordinates.

Authors: I. A. Sedelnikov, D. S. Koltygin

Direction: Informatics, Computer Technologies And Control

Keywords: kinematics, direct problem, inverse problem, robot working area, program, algorithm

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