Development of a block diagram of the final link for the KUKA KR AGILUS robotic arm.

The paper describes the problem of studying the kinematics of manipulators for a robot manipulator. It has been determined that the motor kinematics of a three-link manipulator is a real second-order differentiating link. The review of the researchers' works showed the difference in approaches to modeling the movement of robotic manipulators and controlling production processes using such robots. The object of study is the KUKA KR AGILUS robot manipulator, and its work area is determined. In this work, the transformation of the control signal and the process of converting it into an output parameter on each of the robot's links is determined. To do this, the relationships between the robot's links were specified using mathematical formulas. As a result, the parameters of the dynamic link were obtained (gain, damping, time constant) and a block diagram of the manipulator was developed. [ABSTRACT FROM AUTHOR]