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The synthesis of mathematical models of dynamic modes of manipulators of industrial robots was performed, taking into account their parameters. The obtained mathematical expressions allow reproduction of specified movements of industrial robots in a system designed for the conditions of their positional control. The parameters of the movement diagrams, which are optimal according to the generally accepted criteria of load limitation, are determined. The synthesis covers all possible variants of movement with the limitation of both acceleration and acceleration and its derivative - jerk. It is shown that in the case of a small movement task, the speed of the manipulator links may not reach the maximum value, and the section of constant movement will be absent. Several possible types of optimal “triangular” diagrams of the movement of manipulators of industrial robots have been determined. Jerk limitation during the movement of the manipulator ensures the maximum productivity of industrial robots, while observing the conditions of minimization of dynamic loads, helps to limit oscillations in start-braking modes during positional control.

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Formation of Industrial Work Movement Diagrams at Position Control

  • 会议论文

  • 发表日期：

    2026年

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  • Andrii Boiko,
  • Elena Naidenko,
  • Oleksandr Besarab,
  • Sergiy Malishevskyi,
  • Vasyl Ivanov

摘要

The synthesis of mathematical models of dynamic modes of manipulators of industrial robots was performed, taking into account their parameters. The obtained mathematical expressions allow reproduction of specified movements of industrial robots in a system designed for the conditions of their positional control. The parameters of the movement diagrams, which are optimal according to the generally accepted criteria of load limitation, are determined. The synthesis covers all possible variants of movement with the limitation of both acceleration and acceleration and its derivative - jerk. It is shown that in the case of a small movement task, the speed of the manipulator links may not reach the maximum value, and the section of constant movement will be absent. Several possible types of optimal “triangular” diagrams of the movement of manipulators of industrial robots have been determined. Jerk limitation during the movement of the manipulator ensures the maximum productivity of industrial robots, while observing the conditions of minimization of dynamic loads, helps to limit oscillations in start-braking modes during positional control.