O.N. Krakhmalev1

1 Financial University under the Government of the Russian Federation (Moscow, Russia)

Problem. Simulation of manipulative robots makes it possible to study their functional characteristics. Mathematical models for modeling the movement of robots are the basis for the development of their control systems.

Target. Carrying out an analysis of the computational complexity of mathematical models and computational algorithms for modeling the kinematics of manipulation robots, which can significantly increase the efficiency of calculations.

Results. A method for compiling object diagrams has been developed, which makes it possible to automate the compilation of algorithms for calculating the kinematic parameters of such robots. Examples of object schemes for calculating the velocities and accelerations of points selected on the links of manipulation robots are presented. An analysis of the computational complexity of the developed algorithms is carried out and a method is proposed that allows to significantly increase the efficiency of calculations by reducing the performed operations of addition and multiplication. A two-level parallel computing algorithm has been developed, which makes it possible to additionally improve the efficiency of calculations when using multiprocessor computing systems. Information and computational graphs illustrating the developed algorithm are presented.

Practical significance. The conducted research allows to automate the process of modeling the movement of manipulative robots. The object approach and the simulation methods developed on its basis can also be implemented in control systems for manipulation robots.

Krakhmalev O.N. Object modeling in the kinematics of manipulation robots. Neurocomputers. 2022. V. 24. № 5. Р. 55-66.
DOI: https://doi.org/10.18127/j19998554-202205-06 (in Russian)

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