RUDN Journal of Engineering ResearchRUDN Journal of Engineering Research2312-81432312-8151Peoples’ Friendship University of Russia named after Patrice Lumumba (RUDN University)4799Research ArticleResearch of the efficiency of software implementations of the algorithms of kinematics of the manipulatorShabnom Mustary-bilyk-t@yandex.ruVnukovA Abilyk-t@yandex.ruProkhorovK Obilyk-t@yandex.ruPeoples’ Friendship University of RussiaMoscow institute of electronics and mathematics National Research University Higher School of Economics150120141485507092016Copyright © 2014,2014Software implementations of mathematical simulation of direct task of kinematics, reverse task of kinematics and positioning capture of the robot allowed to conduct the study of convergence and accurate solution of inverse problem, selecting the initial values and the range of angles in the iteration and receive accuracy of iterations and reduce the angle, refine the algorithms. To better reflect the real position that is to capture the transformation matrix Т 6, the solution of the inverse task of kinematics is specified by a decision of the task of positioning.industrial robotdirect task of kinematicsreverse task of kinematicspositioning capturesimulationcontrollingaccurateconvergenceпромышленный роботпрямая задача кинематикиобратная задача кинематикипозиционирование захватамоделированиеуправлениеточностьсходимость