title: ÐÐ»Ð³Ð¾ÑÐ¸ÑÐ¼ ÑÐ¸Ð½ÑÐµÐ·Ð° Ð´Ð¸Ð½Ð°Ð¼Ð¸ÑÐµÑÐºÐ¸Ñ ÑÑÐ°ÐµÐºÑÐ¾ÑÐ¸Ð¹ Ð¿ÐµÑÐµÐ¼ÐµÑÐµÐ½Ð¸Ñ Ð³ÑÑÐ·Ð¾Ð² Ð´ÐµÐ»ÑÑÐ°-ÑÐ¾Ð±Ð¾ÑÐ¾Ð¼
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¼Ð°Ð³Ð¸ÑÑÑÐ°
titleType: Subtitle
title: The algorithm for the synthesis of dynamic trajectories of movement of goods by a delta robot
Creators: name: ÐÐµÑÑÐµÑÐµÐ½ÐºÐ¾, ÐÐµÑÑ
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: 2020
Subjects: Ð´ÐµÐ»ÑÑÐ°-ÑÐ¾Ð±Ð¾Ñ
Ð¿ÑÑÑ
ÑÑÐ°ÐµÐºÑÐ¾ÑÐ¸Ñ
ÑÐ¿Ð»Ð°Ð¹Ð½
ÐºÑÐ¸Ð²Ð°Ñ
Ð¾Ð¿ÑÐ¸Ð¼Ð¸Ð·Ð°ÑÐ¸Ñ ÑÑÐ°ÐµÐºÑÐ¾ÑÐ¸Ð¸
ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ðµ ÑÐ¾Ð±Ð¾ÑÐ¾Ð¼
delta-robot
path
trajectory
spline
curve
trajectory optimization
robot control system

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description: The subject of the graduate qualification work is âThe algorithm for the synthesis of dynamic trajectories of movement of goods by a delta robotâ. In modern industrial robotic solutions, the urgent task is to build the trajectory of the actuator in a dynamically changing environment, in such cases, when the operation of sorting objects is used, there is a complex configuration of packing products in containers, robots work together or in cooperation, etc. The construction of the capture device trajectory is a key task in the software package, serving the work of the delta robot. The quality of the constructed trajectory affects the system performance, energy efficiency, and the service life of the components and mechanisms of the robot. The work is devoted to the development and study of the synthesis algorithm of the delta manipulator actuator trajectory. The research set the following goals: 1. The study of the features of the construction of trajectories. 2. Development of the synthesis algorithm for the trajectories of the actuator in a dynamically changing environment. 3. Description of implementation. 4. Evaluation of the performance and result of the developed algorithm. The paper analyzes approaches to the synthesis of the trajectory of the actuator of delta robots. As a result, an algorithm for the synthesis of the trajectory of the actuator of the robot was developed, and an analysis of the performance of the resulting algorithm was performed. The resulting algorithm can be applied in a delta robot control system with a dynamically environment.