Mathematical software implementations of algoritms of kinematics manipulator models for painting of the surface bodies

Abstract

The article discusses the mathematical model of the forward task of kinematics, inverse, positioning capture of the robot is considered. Software implementation of these tasks allowed conducting the study of convergence and accuracy solution of inverse problem selecting the initial values and ranging of angles on each iteration and getting graphs of dependencies accuracy of iterations and reducing the angle. For more accurate solution of inverse problems of kinematics is applied a solution of the task of positioning to better reflect the real situation capture what is specified by the transformation matrix capture T6. Results are used to paint on the surface of the bodies.

Keywords

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