FIELD: robotics.
SUBSTANCE: invention relates to robotics, in particular, to control systems of multi-stage manipulators having structural restrictions of movement in all their degrees of mobility and additional excessive degrees of mobility.
EFFECT: invention provides for the expansion of the working areas of a multi-stage manipulator, maintaining high accuracy of their trouble-free execution of all manipulative operations when using their automatic movements in three excessive linear degrees of mobility, the introduction of which completely eliminates positions characterized by ambiguity in solving the inverse kinematics problem, and undesirable reversals in all their degrees of mobility associated with the nearing of their degrees of mobility to restrictions.
1 cl, 8 dwg
