METHOD FOR OPERATING TWO-COORDINATE FIVE-HINGED MANIPULATOR Russian patent published in 2006 - IPC B25J9/10 B25J13/00 

FIELD: robotics engineering.

SUBSTANCE: device has sections connected with rotatable kinematical pairs. One of sections is a fixed base bearing two drives, each of which enabling rotation of corresponding section connected to it and having angular restrictor. To make transition from one assembly type having controllable manipulator displacement in two dimensions into another one, one drive control is switched from displacement control mode to force control mode that allows pressing a manipulator section selected against corresponding angular restrictor in free kinematical pair according to calculated loading force. The other drive controlling the movement concurrently transfers the manipulator to the other assembly where the manipulator position is controlled in two coordinates.

EFFECT: increased service zone without introducing additional control units.

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