The article presents an algorithm for solving the forward kinematics problem for a multi-link manipulator robotic system model based on the matrix method of attached coordinates.
The article deals with current situation of design of production lines in modern factories and describes possibilities of realization new type of industry lines. The main research deals with proposal of modular production system established from intelligent manufacturing cells. Main positive features of suggested structure are possibility of rapid reconfigurability of the production line, easy maintenance and possibility of simple and fast design of new production lines, thanks to modularity. To achieve these features in the Industry 4.0 ecosystem is necessary to use of modern communication methods and technologies, such as wireless industrial communication and IoT together with cooperative robots. Moreover, the entire system has to be designed as hierarchical, demand synchronized, flexible and is using standardized construct components.