FIELD: robotics.
SUBSTANCE: invention relates to robotics and can be used in designing continuous-path control systems of multistage manipulators. Task of the proposed invention is creation of a control device ensuring execution of process operations at extended objects using a standard manipulator and an additional degree of freedom moving the manipulator base along the extended objects of works.
EFFECT: technical result obtained at implementation of the invention is formation of an additional control signal for the additional degree of freedom, which provides movement of the manipulator base over long distances with a preset orientation of its gripper during working operations at extended objects, while considerably enlarging the manipulator working zone.
1 cl, 2 dwg
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