Mathematical model of kinematics of an industrial robot equipped with a two-axis positioner

Abstract

The paper deals with the issue of optimization of movements in additive manufacturing using direct laser growth of parts. The developed mathematical model is de-scribed, which takes into account the joint work of a six-axis robot manipulator and a two-axis positioner. The al-gorithm for calculating motion based on the relative posi-tion of two adjacent points of the working tool trajectory relative to the rotary axis of the positioner with the speci-fied accuracy is described. Simulation of processing is car-ried out both when working only with the manipulator and when working together, and control programs with recal-culated coordinates and rotation angles of the positioner are obtained.