title: ÐÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ðµ Ð¸ ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð° Ð¿Ð»Ð°Ð½Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ Ð¿ÑÑÐ¸ Ð¿ÑÐ¾Ð¼ÑÑÐ»ÐµÐ½Ð½Ð¾Ð³Ð¾ ÑÐ¾Ð±Ð¾ÑÐ° Ð² ÑÑÐµÐ´Ðµ Ñ Ð¿ÑÐµÐ¿ÑÑÑÑÐ²Ð¸ÑÐ¼Ð¸
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð±Ð°ÐºÐ°Ð»Ð°Ð²ÑÐ°
titleType: Subtitle
title: Algorithms ofÂ industrial manipulator control, specifically pathplanning in an environment with obstacles
Creators: name: ÐÐ°Ð»ÑÑÐµÐ², ÐÐ¸ÑÐ°Ð¸Ð»
Publisher: name: Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³ÑÐºÐ¸Ð¹ Ð¿Ð¾Ð»Ð¸ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ½Ð¸Ð²ÐµÑÑÐ¸ÑÐµÑ ÐÐµÑÑÐ° ÐÐµÐ»Ð¸ÐºÐ¾Ð³Ð¾
Year: 2023
Subjects: Ð¿ÑÐ¾Ð¼ÑÑÐ»ÐµÐ½Ð½ÑÐ¹ Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾Ñ
Ð¿ÑÐ¾ÑÑÑÐ°Ð½ÑÑÐ²Ð¾ ÐºÐ¾Ð½ÑÐ¸Ð³ÑÑÐ°ÑÐ¸Ð¹
Ð¿ÑÐµÐ¿ÑÑÑÑÐ²Ð¸Ðµ
Ð¿Ð»Ð°Ð½Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ Ð¿ÑÑÐ¸
Ð±ÑÑÑÑÐ¾-Ð¸ÑÑÐ»ÐµÐ´ÑÐµÐ¼Ð¾Ðµ Ð´ÐµÑÐµÐ²Ð¾
Ð¸ÑÐºÑÑÑÑÐ²ÐµÐ½Ð½Ð¾Ðµ Ð¿Ð¾ÑÐµÐ½ÑÐ¸Ð°Ð»ÑÐ½Ð¾Ðµ Ð¿Ð¾Ð»Ðµ
industrial manipulator
configuration space
obstacle
path planning
rapidly-exploring random tree
artificial potential field

description: Ð Ð´Ð°Ð½Ð½Ð¾Ð¹ ÑÐ°Ð±Ð¾ÑÐµ Ð¸ÑÑÐ»ÐµÐ´ÑÐµÑÑÑ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ðµ Ð¿ÑÐ¾Ð¼ÑÑÐ»ÐµÐ½Ð½ÑÐ¼ Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾ÑÐ¾Ð¼, Ð° Ð¸Ð¼ÐµÐ½Ð½Ð¾ Ð¿Ð»Ð°Ð½Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ Ð¿ÑÑÐ¸ Ð² ÑÑÐµÐ´Ðµ Ñ Ð¿ÑÐµÐ¿ÑÑÑÑÐ²Ð¸ÑÐ¼Ð¸. Ð¦ÐµÐ»Ñ Ð´Ð°Ð½Ð½Ð¾Ð¹ ÐÐÐ  â ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐ°ÑÑ Ð¸Ð»Ð¸ ÑÐ»ÑÑÑÐ¸ÑÑ ÑÑÑÐµÑÑÐ²ÑÑÑÐ¸Ð¹ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼ Ð¿Ð»Ð°Ð½Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ Ð¿ÑÑÐ¸ Ð² Ð¿ÑÐ¾ÑÑÑÐ°Ð½ÑÑÐ²Ðµ ÐºÐ¾Ð½ÑÐ¸Ð³ÑÑÐ°ÑÐ¸Ð¹, Ð¿Ð¾ÑÑÑÐ¾ÐµÐ½Ð½Ð¾Ð³Ð¾ Ð² ÑÐ¾Ð¾ÑÐ²ÐµÑÑÑÐ²Ð¸Ð¸ Ñ ÑÐ¸Ð¼ÑÐ»ÑÑÐ¸Ð¾Ð½Ð½Ð¾Ð¹ Ð¼Ð¾Ð´ÐµÐ»ÑÑ Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾ÑÐ° Ð¸ Ð¾ÐºÑÑÐ¶ÐµÐ½Ð¸Ñ, ÑÐ¾Ð´ÐµÑÐ¶Ð°ÑÐµÐ³Ð¾ Ð¿ÑÐµÐ¿ÑÑÑÑÐ²Ð¸Ñ. Ð ÑÐ°Ð¼ÐºÐ°Ñ Ð´Ð°Ð½Ð½Ð¾Ð¹ ÑÐ°Ð±Ð¾ÑÑ Ð¾ÑÑÑÐµÑÑÐ²Ð»ÐµÐ½ Ð°Ð½Ð°Ð»Ð¸ÑÐ¸ÑÐµÑÐºÐ¸Ð¹ Ð¾Ð±Ð·Ð¾Ñ Ð»Ð¸ÑÐµÑÐ°ÑÑÑÑ: ÑÑÐ°Ð²Ð½Ð¸Ð²Ð°ÑÑÑÑ ÑÑÑÐµÑÑÐ²ÑÑÑÐ¸Ðµ Ð¿Ð¾Ð¿ÑÐ»ÑÑÐ½ÑÐµ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ñ Ð¿Ð»Ð°Ð½Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ Ð¿ÑÑÐ¸, Ð²ÑÐ´ÐµÐ»ÑÑÑÑÑ Ð¸Ñ Ð¿ÑÐµÐ¸Ð¼ÑÑÐµÑÑÐ²Ð° Ð¸ Ð½ÐµÐ´Ð¾ÑÑÐ°ÑÐºÐ¸ Ð¿ÑÐ¸ ÑÐµÐ°Ð»Ð¸Ð·Ð°ÑÐ¸Ð¸ Ð¿Ð»Ð°Ð½Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ ÑÑÐ°ÐµÐºÑÐ¾ÑÐ¸Ð¸ Ð´Ð»Ñ Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾ÑÐ° Ñ ÑÐµÑÑÑÑ ÑÑÐµÐ¿ÐµÐ½ÑÐ¼Ð¸ Ð¿Ð¾Ð´Ð²Ð¸Ð¶Ð½Ð¾ÑÑÐ¸. ÐÐ»Ñ ÐºÐ°Ð¶Ð´Ð¾Ð³Ð¾ ÑÐ°ÑÑÐ¼Ð¾ÑÑÐµÐ½Ð½Ð¾Ð³Ð¾ Ð¼ÐµÑÐ¾Ð´Ð° Ð¾Ð¿ÑÐµÐ´ÐµÐ»ÐµÐ½Ñ Ð¿ÐµÑÑÐ¿ÐµÐºÑÐ¸Ð²Ñ ÐµÐ³Ð¾ ÑÐ»ÑÑÑÐµÐ½Ð¸Ñ. ÐÐ»Ñ Ð¼ÐµÑÐ¾Ð´Ð° Ð±ÑÑÑÑÐ¾-Ð¸ÑÑÐ»ÐµÐ´ÑÐµÐ¼Ð¾Ð³Ð¾ ÑÐ»ÑÑÐ°Ð¹Ð½Ð¾Ð³Ð¾ Ð´ÐµÑÐµÐ²Ð° ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐ°Ð½Ð° Ð¸ ÑÐµÐ°Ð»Ð¸Ð·Ð¾Ð²Ð°Ð½Ð° Ð¼Ð¾Ð´Ð¸ÑÐ¸ÑÐ¸ÑÐ¾Ð²Ð°Ð½Ð½Ð°Ñ Ð²ÐµÑÑÐ¸Ñ, Ð´ÐµÐ¼Ð¾Ð½ÑÑÑÐ¸ÑÑÑÑÐ°Ñ Ð¿ÑÐ¸ Ð¿ÑÐ¾Ð²ÐµÐ´ÐµÐ½Ð¸Ð¸ ÑÐºÑÐ¿ÐµÑÐ¸Ð¼ÐµÐ½ÑÐ¾Ð² Ð½Ð°Ð¸Ð»ÑÑÑÐ¸Ðµ ÑÐµÐ·ÑÐ»ÑÑÐ°ÑÑ ÑÑÐµÐ´Ð¸ Ð¾ÑÑÐ°Ð»ÑÐ½ÑÑ Ð¼ÐµÑÐ¾Ð´Ð¾Ð².
description: This paper explores the control of an industrial manipulator, specifically path planning in an environment with obstacles. The aim of this research is to develop or improve an existing path planning algorithm in the configuration space, constructed according to a simulation model of the manipulator and the environment containing obstacles. Within this study, an analytical literature review was conducted, comparing existing popular path planning algorithms and highlighting their advantages and disadvantages in implementing trajectory planning for a manipulator with six degrees of freedom. Perspectives for improving each method were determined. For the Rapidly-Exploring Random Tree (RRT) method, a modified version was developed and implemented, demonstrating the best results among other methods in experimental trials.