SYSTEM FOR ADJUSTING MOTION PATH OF MANIPULATOR Russian patent published in 2012 - IPC G05B15/00 

FIELD: physics.

SUBSTANCE: invention relates to automatic control of dynamic objects and can be used in automatic control of multilink manipulators mounted on underwater vehicles. Automatic adjustment of the programmed motion path of the actuating element of the manipulator in an associated coordinate system already during movement thereof is carried out based on information on the real angular and linear displacement of the underwater vehicle from its origin, obtained from navigation and gyroscopic devices, as well as information on the current configuration of the manipulator, thereby providing additional displacement of its actuating element. The angular and linear displacement of the underwater vehicle from its origin in the presence of said automatic stabilisation system must not exceed certain limits which depend on parameters and the kinematic scheme of the manipulator, i.e., the design of the manipulator, when adjusting a point A displaced on the path I, is capable of adjusting the resultant displacement of the underwater vehicle from the origin.

EFFECT: high accuracy of movement of the actuating element on the desired path.

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