On One Method for Choosing the Planned Trajectory of Parallel Multi-Link Manipulators as Mechatronic Systems with Geometric Constraints

Robotic manipulators, as the most versatile class of modern automatic devices, are part of most automated production systems. The versatility of robots is largely associated with the developed software of the controllers included in their composition. However, despite certain achievements, there are no sufficiently effective commercial software products that solve the problem of planning the trajectories of multilink manipulators. The problem of trajectory planning acquires particular complexity for organizing the joint work of several manipulators, which is relevant for engineering practice: in order to avoid collisions, it is necessary to control the trajectory not only of the working body, but also of all nodes of each manipulator. In view of the obvious ambiguity for the solution of the inverse kinematics problem, necessary for planning, it is necessary to introduce some criteria that exclude ambiguity. In this paper, we discuss the possibility for applying the methods of analytical mechanics to implement the proposed approach - the choice of a trajectory based on the minimum energy consumption along the planned trajectory.