Science intensive technologies in mechanical engineering Science intensive technologies in mechanical engineering Наукоёмкие технологии в машиностроении 2223-4608 55281 10.30987/2223-4608-2022-11-39-48 Технологическое обеспечение эксплуатационных свойств деталей машин и их соединений Technological support of operational properties of machine parts and their connections Технологическое обеспечение эксплуатационных свойств деталей машин и их соединений Mathematical methods for optimizing manipulator movement modes in an automated technological process Математические методы оптимизации режимов движения манипулятора в автоматизированном технологическом процессе https://orcid.org/0000-0001-6880-0897 Иванова Любовь Николаевна Ivanova Lubov Nikolaevna 45is@mail.ru Иванов Сергей Евгеньевич Ivanov Sergei Evgenievich

кандидат физико-математических наук;

candidate of physical and mathematical sciences;

 https://orcid.org/0000-0002-2366-9458 Иванов Сергей Евгеньевич Ivanov Sergei Evgenievich serg_ie@mail.ru

кандидат физико-математических наук;

candidate of physical and mathematical sciences;

 Санкт-Петербургский морской государственный технический университет Санкт-Петербург Россия Saint Petersburg Maritime State Technical University Saint-Petersburg Russian Federation Национальный исследовательский университет ИТМО Россия ITMO University Russian Federation федеральное государственное автономное образовательное учреждение высшего образования «Национальный исследовательский университет ИТМО» Санкт-Петербург Россия ITMO University Saint-Petersburg Russian Federation Санкт-Петербургский государственный морской технический университет Санкт-Петербург Россия Санкт-Петербургский государственный морской технический университет Санкт-Петербург Russian Federation 30 11 2022 30 11 2022 2022 11 39 48 25 11 2022 https://zh-szf.ru/en/nauka/article/55281/view

Рассмотрена актуальная научная задача оптимизации режимов движения манипуляторов в автоматизированном технологическом процессе. Представлен метод оптимизации траектории движения манипуляторов в автоматизированном технологическом процессе. Разработанный метод оптимизации траектории используется для повышения быстродействия и оптимизации движения различных манипуляторов

The paper considers an urgent scientific problem of optimizing the modes of movement of manipulators in an automated technological process. A method for optimizing the trajectory of movement of manipulators in an automated technological process is presented. The developed trajectory optimization method is used to increase the speed and optimize the movement of various manipulators

 оптимизация движения манипуляторы технологический процесс траектории движения motion optimization manipulators technological process motion trajectories

Robot skills for manufacturing: From concept to industrial deployment / Pedersen M.R., Nalpantidis L. et. al. // Robotics and Computer-Integrated Manufacturing, 37, 282-291. Robot skills for manufacturing: From concept to industrial deployment / Pedersen M.R., Nalpantidis L. et. al. // Robotics and Computer-Integrated Manufacturing, 37, 282-291. Faulwasser T., Weber T., Zometa P., Findeisen R. Implementation of nonlinear model predictive path-following control for an industrial robot. IEEE Transactions on Control Systems Technology, 25(4), 1505-1511. Faulwasser T., Weber T., Zometa P., Findeisen R. Implementation of nonlinear model predictive path-following control for an industrial robot. IEEE Transactions on Control Systems Technology, 25(4), 1505-1511. Kaltsoukalas K., Makris S., Chryssolouris G. On generating the motion of industrial robot manipulators. Robotics and Computer-Integrated Manufacturing, 32, 65-71. Kaltsoukalas K., Makris S., Chryssolouris G. On generating the motion of industrial robot manipulators. Robotics and Computer-Integrated Manufacturing, 32, 65-71. Meleshkova Z., Ivanov S.E., Ivanova L. Application of Neural ODE with embedded hybrid method for robotic manipulator control //Procedia Computer Science, 2021, 193, 314-324. Meleshkova Z., Ivanov S.E., Ivanova L. Application of Neural ODE with embedded hybrid method for robotic manipulator control //Procedia Computer Science, 2021, 193, 314-324. Ivanov S., Ivanova L., Meleshkova Z. Calculation and Optimization of Industrial Robots Motion // 2020 26th Conference of Open Innovations Association (FRUCT). IEEE, 2020, 115-123. Ivanov S., Ivanova L., Meleshkova Z. Calculation and Optimization of Industrial Robots Motion // 2020 26th Conference of Open Innovations Association (FRUCT). IEEE, 2020, 115-123. Televnoy A., Ivanov S.E., Zudilova T., Ivanova L.N. Transformation method for a nonlinear manipulator model // Procedia Computer Science, 2021, 193, 295-305. Televnoy A., Ivanov S.E., Zudilova T., Ivanova L.N. Transformation method for a nonlinear manipulator model // Procedia Computer Science, 2021, 193, 295-305. Ivanov S.E., Zudilova T., Voitiuk T., Ivanova, L.N. Mathematical Modeling of the Dynamics of 3-DOF Robot-Manipulator with Software Control // Procedia Computer Science, 2020, 178, 311-319. Ivanov S.E., Zudilova T., Voitiuk T., Ivanova, L.N. Mathematical Modeling of the Dynamics of 3-DOF Robot-Manipulator with Software Control // Procedia Computer Science, 2020, 178, 311-319. Borisov O.I., Gromov V.S., Pyrkin A.A., Bobtsov A.A. Stabilization of linear plants with unknown delay and sinusoidal disturbance compensation // 2016 24th Mediterranean Conference on Control and Automation (MED). IEEE, 2016, 426-430. Borisov O.I., Gromov V.S., Pyrkin A.A., Bobtsov A.A. Stabilization of linear plants with unknown delay and sinusoidal disturbance compensation // 2016 24th Mediterranean Conference on Control and Automation (MED). IEEE, 2016, 426-430. LaValle S. M., Branicky M.S., Lindemann S.R. On the relationship between classical grid search and probabilistic roadmaps // The International Journal of Robotics Research, 2004, 23, 7-8, 673-692. LaValle S. M., Branicky M.S., Lindemann S.R. On the relationship between classical grid search and probabilistic roadmaps // The International Journal of Robotics Research, 2004, 23, 7-8, 673-692. Leven P., Hutchinson S. Using manipulability to bias sampling during the construction of probabilistic roadmaps //IEEE Transactions on Robotics and Automation, 2003, 19, 6, 1020-1026. Leven P., Hutchinson S. Using manipulability to bias sampling during the construction of probabilistic roadmaps //IEEE Transactions on Robotics and Automation, 2003, 19, 6, 1020-1026. Isto P. Constructing probabilistic roadmaps with powerful local planning and path optimization //IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, 2002, 3, 2323-2328. Isto P. Constructing probabilistic roadmaps with powerful local planning and path optimization //IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, 2002, 3, 2323-2328. Output control algorithms of dynamic positioning and disturbance rejection for robotic vessel / Wang J., Pyrkin A. A. et. al. //IFAC-PapersOnLine, 2015, 48, 11, 295-300. Output control algorithms of dynamic positioning and disturbance rejection for robotic vessel / Wang J., Pyrkin A. A. et. al. //IFAC-PapersOnLine, 2015, 48, 11, 295-300. Simple robust and adaptive tracking control for mobile robots / Pyrkin A.A., Bobtsov A.A. et. al. // IFAC-PapersOnLine, 2015, 48, 11, 143-149. Simple robust and adaptive tracking control for mobile robots / Pyrkin A.A., Bobtsov A.A. et. al. // IFAC-PapersOnLine, 2015, 48, 11, 143-149.