Studied mobility planar four-link mechanism of the manipulator in a predetermined area of the workspace. A method for determining the maximum rates for selected destinations for the mechanisms of manipulators with motor redundancy.
Keywords: own properties mechanisms manipulators, mobility manipulators, robots for the synthesis of movement velocity vector
Explored the area of space of configurations, defining a set of accessible points of the working area of the manipulator with the position of forbidden zones. For the analytical determination areas used theory of sets and a set of second-order surfaces.
Keywords: synthesis of movement of the robot, the configuration space, restricted areas, intelligent robot control system