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2. Statement of the task. It is known that there are currently three generations of industrial robots. The first generation is robots subject to rigid programming, the second generation is robots subject to adaptive control, and the third generation is intelligent robots. This theoretical problem of modeling and controlling the motion of industrial robots is divided into the mechanics of interconnected robots and the control of their motion. [4-5].
Mathematical writing of industrial robots with mathematical modeling methods, their formation and substantiation of quality criteria, construction of robot trajectory, development of kinematic and dynamic methods, their analysis and synthesis are the first issues [1]. The main scientific issues of industrial robot control are the research and development of programming methods of robots, the development of algorithms for analyzing and synthesizing the movement of robots, the development of adaptive control algorithms for robots using artificial intelligence, the development of robot sensitivity principles, sensor data. conversion and optimal use are secondary issues [1-3].
Whether an industrial robot is complex in a technological process or performing a simple spatial manipulation operation, a number of its characteristics are involved in the process. The main characteristics of an industrial robot are: [2-5]:
Working space of a robot is the space in which the robot’s executive mechanism can be located in motion.
Working area of the robot is the space in which the robot’s holding device can be located in motion.
Geometric characteristics of the robot's work area are the size of the robot's work area, the cut surface, the linear, angular dimensions, or a set of them.
Basic coordinate system of the robot is a system of coordinates with respect to the transmission of geometric characteristics of the working area of the robot.
Number of moving levels of the robot is the set of the number of free levels of the kinematic chain of the robot's actuator relative to the base coordinates and the number of free levels of the moving device.
Degree of mobility of a robot between positions is the degree of mobility of a robot using a robot to move or traverse a path using a moving device.
Degree of mobility of an industrial robot's actuator is the degree of mobility of a robot's actuator using the movement of a gripping device.
Degree of mobility of the actuator in targeting is the degree of mobility of the robotic actuator in using the grasping device to target.
An industrial robot with six or more links is a complex technical system. Therefore, six or fewer links in the actual design of an industrial robot are involved in the technological process. The smaller the number of links, the simpler the control of the robot. In a very simple industrial robot, the number of links is up to three. Given the complexity of industrial robot movement, it can be divided into the following types [1-3]:
global - the base is specific to moving robots, the movement of the robot base increases the range of motion;
- regional - specific to transport robots, the movement of the links ensures the continuous movement of the material point in the grip device;
- local - the robot restricts the movement of the links, directs the positioning device to increase positional accuracy, ie to get the target correctly.
Let's determine the mobility, flexibility, service angle of an industrial robot in the example of a three-link robot [6-7]
obility of an industrial robot number of variable generalized coordinates that uniformly determine the position of the space capture device is as follows [7-8]:
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Basis can be put not only in relation to the basis of the issue of speed for the movable state, but also for the acting mechanism of the industrial robot.When compiling a dynamic equation, the basis of the industrial robot is its excitability, non-excitation, and the appearances of the kinematic pair play an important role [8-10].
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