General algorithm for optimal control of moving industrial robots

Abstract

Control of robots in changing conditions is complex, and its main reason is, firstly, that the robot changes its manipulative behavior concerning the influence of the external environment, and secondly, that it does not have a clear model of motion. If the motion model is not clear, the control model will not be clear, and it will be difficult to determine the control parameters of the robot. Therefore, to overcome these shortcomings, the article presents a model of the motion of robots moving in changing conditions using mathematical methods and an algorithm for optimal control based on it.