Structural organization of robotic building and mounting complexes

The object of the research is construction robot manipulators for mounting works. The results of mathematical identification of mounting manipulators on the basis of a tower crane model are presented. The design of movement trajectories of a manipulator or technological equipment is performed taking into account the limitations both on the trajectory itself and on the movements of the manipulator links. The trajectory of movement is represented as a sequence of typical elementary sections. Recommendations on creation of databases for manipulators operating according to a cyclic program for their use at the stage of trajectories design are given.