ALGORITHMS FOR CONTROL OF WELDING ROBOTIC-MANIPULATORS BASED ON A STATISTICAL MODEL OF A CONFIGURATION SPACE
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Abstract
The new effective algorithms were proposed for control of welding robotic-manipulators. The proposed algorithms are based on a statistical model of a configuration space. In contrast to known they effectively take into account complex shape of the elements of the robotic technological cell, the limits for the orientation of technological tool, as well as limits for the angular velocity of the manipulator links. The effectiveness of the proposed algorithms is confirmed by the tests in the experimental space of robot modeling.
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