Development of method of forming signals for the actuators of manipulators with redundant degrees of mobility

Abstract

Features of a solution for an inverse kinematic problem for manipulators with the PUMA scheme, which have constructive movement restrictions in corresponding mobility degrees, are considered. A method which by means of additional (redundant) mobility degrees of manipulators doesn't allow advance unpredictable exit of any mobility degree to the restrictions leading to sharp decrease in accuracy if trajectories of a movement of working tools of these manipulators in the process of performance of any technological operations aren't defined in advance is suggested. This method allows keeping automatically smooth movements of working tools without creating emergencies and without interfering with the quality of the performed works.