Янков К., Р. Казанджиева, Д. Текелиев, Числово-аналитичен кинематичен анализ на промишлени роботи

This paper is devoted to the development of CINDY software system for kinematical analysis of Industrial Robots (IR) using analytical transformations tools. The analytical model of an IR is defined and corresponding data structures are described. The means for analytical modeling of robot kinematics are based on SYANA system for analytical transformations. A hybrid, numerical-analytical algorithm for kinematical analysis of robots is developed. The experimental investigations of the programmers realized show the accelerations of up 1.3 to 1.8 times in comparison with numerical solution. The possibilities for parallel processing of the kinematical analysis and simulation of IR are investigated.