Modern robots are complex technical devices with the most valuable properties being the ability to perform certain tasks better, quicker and more accurately than a human being. Therefore, even there are many areas of robot application, they were first introduced in the areas requiring a lot of mechanical and simple manual work: milking robots; sheep shearing robots; maize field robots that cut pest-damaged leaves to prevent further spreading; mechanical weeding and micro-spraying robots; greening, seedbed preparation, spraying, growing are performed with smaller agricultural robots that navigate using GPS guidelines; handling robots; biological object detection robots. To be more specific, biological object detection robots in agriculture face numerous challenges as only few of the listed applications do not require robot movement, because in agriculture the majority of operations are related to movement of machines. Moreover, in contrast to industry, when performing the assigned tasks they need to interfere with various plants, soil, irregularities of various types, biological objects, etc., which impairs their accuracy and mobility and results in different power required for the same action. Therefore, the subject of the study in this article is a robotic arm for detecting and removing/eliminating biological objects, and the goal of the study was to develop the methods for managing the movement-dynamics system as well as for planning the trajectory of the robotic arm ensuring the manipulator will detect biological objects retaining wide enough movement spectrum and consistency of movement modes under the influence of external uncontrolled disturbances. Based on the above, a model of a robotic arm was developed after calculating the missing parameters for the engines of the experimental robotic arm, which was able to generate a control signal and calculate the linear and angular velocities and accelerations of the kinematic chain motion characteristics, linear accelerations of the chain centres of mass, and the coordinates of the robotic arm tip. The developed model allows optimization of the manipulator's operation and supports constant trajectory of the robot working tool (camera and laser).

Under rapid development of science and industry the industrial robots and robotic systems are more widely used in the field of industry. The robots and robotic systems help to manage and master new technological processes efficiently and effectively. In this art icle there was carried out the analysis of the two degree of freedom (DOF) robot arm, which is widely used in practice in order to reveal its functions and to identify its key dynamic parameters using fuzzy logic system. The mathematical model of robot arm dynamics is composed, which includes the mathematical models of the robot arm links twirling motors and the direct positions task model generating the end point of the robot. After the analysis of the robot model the expanded research was performedafter calculating the missing parameters of experimental 2DOF robot arm motors there was created the robot arm model with "V-REP" and "MATLAB Simulink" software packages that allowed to set the control voltages and to observe the changing in time processes of link velocity trajectories. There is calculated designed planar robot end point trajectory deviation from the dynamic trajectory.

Uncertainty caused by presence of unknown static and dynamic obstacles in the robot's operating area while detecting biological objects and expressed by obstacle detection sensor error level, as well as alternating locations of such obstacles result in the need to develop methods of planning and controlling robot movement. Essence of these methods: after a robot is given a task during the process of planning, a safe trajectory of movement is designed in real time considering the possible robot configurations, as well as information concerning the environment that was detected by the sensors. The desired robot configurations are then formed during the process when the trajectory is generated, that is, time functions. The obtained trajectory is the key control factor that shapes appropriate signals to generate torque, which ensures that the robot moves along a safe trajectory with the least possible error to reach the destination point. Therefore, the subject of research in this article is a robotic arm intended for detection and elimination-destruction of biological objects, and the goal is to develop a method of designing an intelligent system for planning robot manipulator real-time movement in an unknown dynamic environment and perform computer simulation with the obtained system in the V-REP and MatLAB environments. Based on the above, the missing parameters for the experimental mobile robot have been calculated in the article and a model of a robotic arm has been developed to analyse the peculiarities and problems of using an intelligent planning system. As a result of the research performed in the article, significant data have been obtained, based on which a method of planning mobile robot movement in an unknown dynamic environment using an intelligent planning system was proposed allowing to improve the accuracy and efficiency of movement planning.