CONSTRUCTION OF OPTIMAL PROGRAMMED PATHS FOR THE MOTION OF A ROBOTIC MANIPULATOR

In this article, we consider the construction of programmed paths sati sfying certain optimization criteria fur the motion of a robotic manip ulator in an environment with obstacles. The problem is solved in two stages. In the first stage, a so-called geometrical path is constructe d in the space of generalized (articulated-joint) coordinates. This pa th is not a function of time: it is a function of some scalar paramete r. In the second stage, given the geometrical path, we construct the s ought optimal programmed path as a function of time. The construction of the geometrical path includes an analysis of the behavior of the so lution on perturbed input data, in particular, on a perturbed descript ion of the environment (the obstacles). This analysis relies on the co ncept of stability region of the solution, which is quantitatively cha racterized in our research.