Motion Planning of the Industrial Manipulator in the Target Space

The paper deals with the features of motion planning of the KUKA KR4 R600 industrial robot manipulator in the target space of the robot cell. The results of automated generation of a training data set for the neural network model of the manipulator control system are presented. An analysis of the di...

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Bibliographic Details
Published inSystems of Signals Generating and Processing in the Field of on Board Communications (Online) pp. 1 - 5
Main Authors Smolnikov, V. A., Voronova, L. I., Mohammad, Nawar Faesal
Format Conference Proceeding
LanguageEnglish
Published IEEE 12.03.2025
Subjects
automation
forward kinematics
industrial robotics
Industrial robots
Kinematics
Manipulators
motion planning
neural network algorithms
Neural networks
Planning
Robot kinematics
Service robots
Software
Splines (mathematics)
Trajectory
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ISSN2768-0118
DOI10.1109/IEEECONF64229.2025.10948074

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Summary:The paper deals with the features of motion planning of the KUKA KR4 R600 industrial robot manipulator in the target space of the robot cell. The results of automated generation of a training data set for the neural network model of the manipulator control system are presented. An analysis of the different types of motion characteristic of typical robot manipulators PTP, LIN, CIRC and SPLINE and a software implementation of the calculation of the direct kinematics of the manipulator has been carried out. The obtained results can be applied to the tasks of autonomous control of industrial robots and increasing their stability to external constraints.
ISSN:2768-0118
DOI:10.1109/IEEECONF64229.2025.10948074