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[abstFig src='/00280002/06.jpg' width=""300"" text='Perspective view of robotic mounting system for large-panel building' ]This paper presents a method of planning trajectories for the motions of building robots according to the given points of support on the basis of a two-level interpolation. This method features the calculation of speeds at the intermediate points of the trajectory, while duly accounting for the limitations for controlling moments. The combination of analytical and searching methods of calculation makes it possible to obtain a solution during the interval of control.

Planning of Movements of Building Robots with Speed Optimization