FIELD: robotics.
SUBSTANCE: invention can be used to create contour control systems for multi-link manipulators. The control device ensures the execution of technological operations on extended sites using a typical manipulator and an additional linear axis of mobility that moves the base of the manipulator to new work sites or along extended work sites in a horizontal plane. The area of the automatic operation of the manipulator in the horizontal plane is substantially increased due to introduction of the first and second keys, the third and fourth quad units, the sixteenth, seventeenth and eighteenth adders, the square root calculation unit, the second constant signal source, the first and second threshold elements and the modulus calculation unit, as well as the corresponding connections into the device.
EFFECT: use of the invention makes it possible to expand the technological capabilities of the manipulator.
1 cl, 2 dwg
