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The article describes the use of a modified ACO algorithm to optimize the trajectory of a planar 3RPR robot. The trajectories of the motion of agents of the first generation were obtained in accordance with the classical and modified algorithm. The efficiency of using the modified trajectory planning algorithm was demonstrated, which made it possible to reduce the length of the original trajectories and the time required to process them. At the same time, in order to save time, the trajectories of movement obtained during its operation can be subjected to discrete local optimization. The result of the work of the algorithms is a set of tasks reflecting the change in each of the input coordinates of the mechanism over time, which can be directly used during the operation of the robot control system. A detailed description of the algorithm and the results of mathematical modeling are presented.

The quality of the diagnostic information obtained in the course of laboratory studies depends on the accuracy of compliance with the regulations for the necessary work. The process of aliquoting blood serum requires immersing the pipette to different depths depending on the boundary level between blood phases. A vision system can be used to determine this depth during automated aliquoting using various algorithms. As part of the work, two recognition algorithms are synthesized, one of which is based on the use of the HSV color palette, the other is based on the convolutional neural network. In the Python language, software systems have been developed that implement the ability of a vision system to recognize blood in test tubes. The developed methods are supposed to be used for aliquoting biosamples using a delta robot in a multirobotic system, which will increase the productivity of ongoing biomedical research through the use of new technical solutions and principles of intelligent robotics. The visualized results of the work of the considered programs are presented and a comparative analysis of the quality of recognition is carried out.