Problem statement. Ensuring precise and convenient control of mobile platforms through a discrete joystick is a current challenge in modern automation systems. One of the primary issues is the uneven sensitivity of the joystick in different directions due to the heterogeneous distribution of the areas of its virtual field segments. Purpose.
The paper formulates the inverse kinematic problem for the robotic manipulator with six degrees of freedom. For the solution if this problem, the geometric method combined with the Denavit–Hartenberg transformation was applied. The Denavit–Hartenberg method offers the advantage of reducing the number of coordinates that determine the special position of the solid body from six to four. This method provides for an accurate positioning of the working tool. The inverse kinematic problem was solved. This problem aims at calculating the rotating angle of each axis.
The article proposes a solution of the forward kinematics problem for a welding manipulator with six degrees of freedom. Solving this problem is the first necessary step in creating a control system for this manipulator. This will make it possible to determine the displacement, accelerations and moments in each of the manipulator parts and will ensure accurate positioning of the welding tool.