DESIGN AND MODELING

Algorithms and mathematical software for robotic systems

Authors

  • Elena V. Poezzhaeva Perm National Research Polytechnic University, 614990, Perm Krai, Perm, Komsomolsky Prospect, 29
  • Vadim E. Karavaev Perm National Research Polytechnic University, 614990, Perm Krai, Perm, Komsomolsky Prospect, 29
  • Michail I. Plotnikov Perm National Research Polytechnic University, 614990, Perm Krai, Perm, Komsomolsky Prospect, 29
  • Nikita N. Kuchev Perm National Research Polytechnic University, 614990, Perm Krai, Perm, Komsomolsky Prospect, 29
  • Maxim E. Kichigin Perm National Research Polytechnic University, 614990, Perm Krai, Perm, Komsomolsky Prospect, 29
  • Ilya S. Pishchalnikov Education Department of the Perm City Administration, 614000, Perm Krai, Perm, Sibirskaya St., 22
DOI: 10.25726/o9443-3544-4701-l EDN: CTADTV

How to cite

GOST Poezzhaeva E. V., Karavaev V. E., Plotnikov M. I., Kuchev N. N., Kichigin M. E., Pishchalnikov I. S. Algorithms and mathematical software for robotic systems // STROITEL'NYE I DOROZHNYE MASHINY. 2026. Vol. 70. No. 8. P. 179-188. DOI: 10.25726/o9443-3544-4701-l
APA Poezzhaeva, E. V., Karavaev, V. E., Plotnikov, M. I., Kuchev, N. N., Kichigin, M. E. & Pishchalnikov, I. S. (2026). Algorithms and mathematical software for robotic systems. STROITEL'NYE I DOROZHNYE MASHINY, 70(8), 179-188. https://doi.org/10.25726/o9443-3544-4701-l

Abstract

The paper reviews programming methods for industrial robots: direct teaching (lead-through and walk-through) and text-oriented problem-oriented programming. Advantages and drawbacks of each approach are analysed, along with features of Whirl, Rapt languages and systems by ASEA and Graco. It is shown that direct teaching subsystems, in which the operator guides the robot end-effector along the required trajectory, demand no special programming knowledge from the operator but make editing of the prepared program considerably more difficult. It is noted that modern textual languages are oriented towards describing the required positions of the end-effector and rely on logical branching operators and subroutines that provide interaction with the robot sensor systems. Lagrangian dynamics equations for multi-link manipulators are derived, including inertia, Coriolis, centrifugal and gravitational coefficients, as well as expressions for Christoffel symbols and partial derivatives of position vectors with respect to generalised coordinates. Practical recommendations for selecting kinematic configurations to simplify the dynamic model are formulated: the use of prismatic joints, parallel or perpendicular arrangement of the degrees of mobility, and decreasing masses of successive links from the base towards the end-effector. The problem of lacking standardization in robot programming languages and its impact on integrated manufacturing systems is discussed.

Keywords

robot programming direct teaching textual programming languages manipulator dynamics Lagrange equations inertia coefficients Coriolis forces kinematic configuration

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Issue

Vol. 70 No. 8 (2026): Stroitel'nye i dorozhnye mashiny

Section

DESIGN AND MODELING

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