SIMULATION METHOD OF MANIPULATOR MOVEMENT Russian patent published in 2020 - IPC B25J9/16 

FIELD: machine building.

SUBSTANCE: invention relates to a method and a system for modeling movement of manipulator (1a, b), preferably manipulators (1a, b) with numerical control, in production environment (3a, b). Manipulator (1a, b) is brought into motion in operating mode by means of control device (10), wherein production environment (3a, b) is at least partially reflected in environment model. Method includes calculation of planned trajectory (12a, b) by means of control device (10) from preset movement of manipulator (1a, b), based on initial position (11a, b) and based on kinematic model of manipulator (1a, b), at initial position (11a, b) corresponding to actual position of manipulator, performing kinematic collision control based on planned trajectory (12a, b), kinematic model and environment model and creation of prediction result based on kinematic control of collisions.

EFFECT: invention makes it easier to prevent occurrence of collision hazard states that occur when a manipulator traverses a planned trajectory.

17 cl, 3 dwg