The algorithm for planning the trajectory of the 3-RPR robot, taking into account the singularity zones based on the method of non-uniform covering

The article describes the method the trajectory planning of a 3-RPR robot, using the numerical solution of the forward kinematics. An algorithm for determining the position of a mobile robot platform based on the method of non-uniform coverings has been synthesized. The zones of singularity arising at some positions of the robot are investigated. The conditions for the emergence of singularity zones corresponding to its special provisions are revealed. It is shown that the solution of the forward kinematics is not unambiguous i.e. with the same change in the length of the rods there are different positions of the platform. The issues of planning the trajectory for a mobile platform are described while taking into account the zones of singularity. To implement the algorithm, a software package in the C++ language has been developed. The results of mathematical simulation are presented.