Determination of Special Positions for Solving the Problem of Joint-Relative Manipulation Mechanisms Kinematic Control

Abstract

The article deals with topical issues of solving the problem of analyzing the special provisions of the mechanisms of joint-relative manipulation. The analysis of existing methods and approaches for determining the special provisions of the mechanisms is carried out. The approach based on the search for bifurcation conditions is considered in detail. Within the framework of using this approach, special positions of the planar six-branch mechanism are found through the compilation of coupling equations. The working area of the flat six-shaft mechanism is constructed taking into account the permissible and special provisions. The method of finding the working space of the mechanism of joint-relative manipulation using the iterative method is shown. The working area of the mechanism of joint-relative manipulation is constructed, taking into account the permissible and special provisions. The working area of the mechanisms of joint-relative manipulation is investigated, taking into account special positions, and an approach to solving the problem of forming a program trajectory in the space of generalized coordinates is proposed, taking into account the presence of special positions of the mechanism.