الفهرس 
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Abstract
The aim of the work is to increase the efficiency of the food enterprise through the development and implementation of an automated control system for a technological manipulator robot with several degrees of freedom based on a simulation model. In order to achieve that, the following tasks are determined: Creation of mathematical models of multi-link technological manipulators of the SCARA, PUMA, KUKA types, ensuring the preservation of a given positioning accuracy in the entire space of the working area. Development of an algorithm for controlling a technological manipulator that ensures optimization of a given criterion under conditions of limitations (in terms of power supply capacity and geometry of the working area). Development of the structure of a distributed control system and modeling of a technological manipulator, dividing the functions of the current movement control and modeling, taking into account the physical properties of the manipulator and objects. Development and research of a computer vision system for tracking objects moving along the production line, with a camera located on a moving manipulator. Development of dynamic and control structures of robots of manipulators SCARA and PUMA 560, using (LabVIEW) and (SolidWork), to control the rotational and linear motors of the model.The dissertation research used the theory of automatic control, mathematical modeling methods, decision theory, network planning methods, optimization methods (kinematics and dynamic programming), theory of algorithms and programming methods, methods for creating vision systems.