FIELD: physics.
SUBSTANCE: invention relates to robotics and particularly to control systems of manipulators having excessive degree of mobility and structural limitations of displacement in rotational degrees of mobility.
EFFECT: invention ensures preservation of specified accuracy of performance of all prescribed manipulation operations due to introduction of additional excessive degree of manipulator mobility and additional control system of this degree, which completely exclude occurrence of unexpected transfer modes in all its rotational degrees of mobility in the process of any manipulation operations.
1 cl, 1 dwg
