Journal
Scientific and technical journal «Priborostroenie»
UDK004.896
Issue:2 (64)
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ANALYSIS OF ALGORITHMS FOR POSITIONAL SEMI-AUTOMATIC CONTROL OF A ROBOT MANIPULATOR WITH A GIVEN ORIENTATION OF THE WORKING TOOL
Annotation
The problems of semi-automatic control of a robot manipulator with position and orientation of the working tool set by a human operator are considered. Theoretical methods of setting robot tool orientation are discussed. Inverse kinematic problems solved in position control systems for a 6-link robot are formulated. Ways of solving such problems using iterative numerical methods with and without calculating the Jacobi matrix corresponding to the robot’s mechanism are studied. Examples of joint trajectories calculation for a 6-link robot moving the tool along a helical trajectory using different techniques of setting the tool orientation are presented. Convergence of iterative algorithms for solving inverse kinematic problems are analyzed.
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