Industrial Automatic Control Systems and Controllers Annotation << Back Improvement of the Algorithm for Optimizing Manipulator Movements on the Production Line for Industrial Automated Control Systems V.I. Сhizhikov, B.A. Solovyov, A.N. Lyapin, E.V. Kurnasov The paper considers a method for constructing a manipulation system that functions in a local automated control system of a technological assembly line. An automated control system architecture is proposed, which includes subsystems for planning the trajectory of the working movement of manipulators, implementing control laws, and generating control signals for automated PLC programming. An algorithm for determining the power control functions that implement the movement of the manipulator with the load along the optimal trajectory, based on the solution of the isoperimetric problem, is considered. A model for finding control signals that provide optimal control and a solution for visualizing the trajectory of the manipulators in the polar coordinate system are proposed. The results of simulation and the mechanism of automated PLC programming based on the proposed SimInTech dynamic model are presented. Keywords: ACS; PLC; manipulation robot; isoperimetric problem; Lagrange function; indefi nite Lagrange multipliers; Simintech. DOI: 10.25791/asu.8.2021.1300 Pp. 03-10.