Motion Planning of the Industrial Manipulator in the Target Space

摘要

The paper deals with the features of motion planning of the KUKA KR4 R600 industrial robot manipulator in the target space of the robot cell. The results of automated generation of a training data set for the neural network model of the manipulator control system are presented. An analysis of the different types of motion characteristic of typical robot manipulators PTP, LIN, CIRC and SPLINE and a software implementation of the calculation of the direct kinematics of the manipulator has been carried out. The obtained results can be applied to the tasks of autonomous control of industrial robots and increasing their stability to external constraints.