| Abstract [eng] |
Smart and manoeuvrable manipulators, which are able to decide their movements, are widely applied in the world’s biggest ports, railway stations and in manufacturing and science. Analysis of manipulator kinematics needs for compiling of arm movement equations which allow specifying requirements with the view of the optimized trajectory and more effective usage of motors. When an obstacle occurs in the manipulators levers trajectories, obstacles position is analyzed and if necessary new levers trajectories is created to avoid obstacles. The thoughtful research enables to create an algorithm for computation of angles of the arms by taking into account the conditions determined by model of manipulator. In this paper inverse kinematics of manipulator is analysed and algorithm is created for trajectory optimization to reduce energy costs and for analizing obstacles position in the manipulators movement trajectory to circumventing obstacle. |
