FIELD: robotics.
SUBSTANCE: invention can be used to create contour control systems for multi-link manipulators. Due to the additional introduction into the device of the first, second, third and fourth keys, the third and fourth quad units, the sixteenth, seventeenth and eighteenth adders, the second source of a constant signal, the first, second and third threshold elements, the first and second blocks for calculating the module, the block for calculating the square root and logical element OR, as well as the corresponding connections y, the control device generates an additional control signal that ensures the movement of the base of the manipulator over long distances with a given orientation of its gripper in the process of performing work operations, including on extended facilities, while significantly increasing the zone of automatic operation of the manipulator in the horizontal plane.
EFFECT: use of the invention makes it possible to expand the technological capabilities of the manipulator.
1 cl, 2 dwg
