FEATURES OF KINEMATICS AND CONTROL OF MULTI-LINK MANIPULATOR ROBOTS
Authors: Omarov M. , Korobskyi V. , Nevliudova V. 
Published: April 2023

The subject of research is multi-link manipulators, their kinematics and methods of controlling multi-link manipulator robots. To improve the accuracy of movement of each link and their synergy of work with each other during operation. In addition, the subject of the research is the analysis of the requirements for multi-link robot manipulators and the improvement of the kinematics of the robot-manipulator movements based on the comparison of mathematical methods in operating conditions. In different operating conditions manipulators and the automation of the production line is a big step for industry. Instead of a traditional industrial robot, a multi -link manipulator robot can be a good intermediate solution. It is more maneuverable, flexible, and has more complex movements for working on serial production. Multi-link robots provide a quick replacement of skilled labor in case of a shortage of employees or when production needs to be accelerated. As with any revolutionary technology, it is necessary to be critical of its implementation. The most decisive advantage of a robot over a single-link industrial robot is flexibility. Especially since the production environment needs to be able to adapt to handle the work with small volumes and a large number of different tasks. Such robots are more mobile and take up less space than traditional industrial robots. They are easier to reprogram to perform different jobs or product variants. However, it is worth noting that programming a traditional robot, which in its specialized environment requires deep knowledge and endless settings. When using a robot, the entry barrier for operators is significantly reduced, while deployment and ROI are accelerated. The aim of the work is to determine how the project context affects the choice of motion techniques and to determine the dependencies between requirements discovery methods. The article solves the following tasks: to study the trajectory of robots and compare mathematical control methods. Requirements in industry, create and draw a parallel regarding the practice of using demonstration robots and requirements in real conditions of using multi-link structures, determine the preferences of practitioners regarding detection methods and determine how the project context affects the choice of requirements detection techniques, determine dependencies between requirements detection methods. The task using such a method as a parametric form of the task is to prove that: the mathematical model of motion trajectories is the most reliable. Development and improvement of kinematic movements of manipulators with synergy of movements between manipulators. The following results were obtained: The best detection methods were identified and compared with other comprehensive studies. Conclusion: It was concluded that the choice of the shape of the wave-like trajectory of the movement; a traveling wave in a coordinate system moving along this sine wave form should be used as a control program for an automatic drive system. The assignment of a form in the form of a sine wave appears unsuitable for this task, because the obvious disadvantage of the sine wave is a continuous change in curvature and greater curvature at the peaks at large amplitudes.