Versatile algorithms of construction and optimization of programmed motions of manipulators (Q1821741)

Algorithms of automatic programming of manipulators are obtained by a method of parametric optimization of programmed motions in a class of B- splines; they are used for self-adjustment of the parameters of programmed motion in accordance with the changing conditions of a problem (such as obstacles; constraints, or boundary conditions). The results of computer experiments in the design and optimization of programmed motions are presented for various kinematic manipulator systems; they show that these algorithms are efficient.