V.A. Kol-tsov, V.R. Milov, R.L. Shibert

The problems of manipulation robot kinematics and dynamics belong to special-purpose manufacture overload robotic system are considered in this paper. Automatic control of manipulator realized on base of movement target profile. The characteristic defines configuration and acceleration and slowdown rate is brought in for symmetric movement target profile. The desirable acceleration time, times of moving on primary rate and slowdown are determined.On base of dynamicsequations relationship between manipulator variable inertia characteristics and movement target profile configurationis established. Such relationship allows manipulating the movement target profile during the uploading and unloading manipulator operations. This can allows carry out the basiccontrolling system adaptation for engineering process of manufacture overload and to increase the efficiency of uploading and unloading operations.