DETERMINATION OF OPTIMAL PARAMETERS OF THE PANDA ARM ROBOT MANIPULATOR

Abstract

When using robotic manipulators at enterprises, the task of determining the optimal parameters of robotic manipulators that would take into account the parameters of its functioning, namely the absence of obstacles on the trajectories of movement, the safety of workers working near the robotic manipulator and the minimum energy consumption during the technological process, is relevant.

In the process of performing tasks by robotic manipulators within the technological process, there are a large number of possible parameters of its functioning, which include, for example, the trajectory of movement, the coordinates at which objects are captured, etc. In this paper, we consider a set of possible trajectories for a robot to follow when picking up objects from boxes and moving them to a conveyor. The motion trajectories were obtained by creating a virtual prototype of the robot and calculated by the parabolic mixing method.

The resulting motion trajectories were analyzed in terms of energy consumption. As a result, it was found that reducing the length of the linear trajectory of the robot's movement leads to an increase in energy consumption; reducing the bending of the joints when moving along the trajectory leads to a decrease in energy consumption; the motor of the first joint requires the least energy; the main share of the energy consumed is the total length of the trajectory traversed by all the joints of the robot manipulator; the length of the linear trajectory of the robot manipulator does not significantly affect the lifting of objects, so it can be considered only in terms of energy consumption.