MOTION PLANNING OF INDUSTRIAL ROBOTS BASED ON THE PRINCIPLE OF SYNERGETIC CONTROL
Annotatsiya
The paper considers motion planning for industrial robots from the standpoint of synergetic coordination, in which joints, drives, sensors, the end-effector and the working environment are treated as parts of one system with a common goal. The planning procedure includes setting the initial and target states, computing joint coordinates by inverse kinematics, checking geometric and dynamic constraints, smoothing the trajectory, and tracking it with feedback correction. Limits on joint angles, velocities, accelerations and drive torques are considered together with collision avoidance and a minimum safety distance. A standard rigid-manipulator dynamic model and a quadratic tracking-error criterion are used to state the problem. The paper proposes a coordinated planning framework. Deriving a full synergetic control law and validating it in simulation and on a robot platform are left for further work.