DEVELOPMENT OF METHODS FOR CONTROLLING THE MOVEMENT OF THE WORKING BODY OF A ROBOTIC 3D PRINTING COMPLEX TO PROVIDE ADDITIVE TECHNOLOGIES

The article presents the results of the development of a robotic complex for providing additive technologies based on a spatial manipulator. The quality of volumetric printing is ensured by the continuous movement of the working body - the extruder along a trajectory specified in the space of generalized coordinates or in Cartesian space. A method is proposed for forming program trajectories of the manipulator's working body by specifying a set of nodal points, the movement between which is carried out along rectilinear trajectories. To do this, the inverse kinematics problem of position is solved at each moment of time. The developed algorithm, implemented in the Matlab environment, made it possible to determine the values of generalized coordinates, velocities, accelerations and forces during the movement of links corresponding to the configurations of the spatial manipulator at specified points of the trajectory.