Research of the efficiency of software implementations of the algorithms of kinematics of the manipulator

Abstract

Software implementations of mathematical simulation of direct task of kinematics, reverse task of kinematics and positioning capture of the robot allowed to conduct the study of convergence and accurate solution of inverse problem, selecting the initial values and the range of angles in the iteration and receive accuracy of iterations and reduce the angle, refine the algorithms. To better reflect the real position that is to capture the transformation matrix Т 6, the solution of the inverse task of kinematics is specified by a decision of the task of positioning.

Keywords

• промышленный робот
• прямая задача кинематики
• обратная задача кинематики
• позиционирование захвата
• моделирование
• управление
• точность
• сходимость