Investigation of exclusion zone effect on shape and position of region of allowed manipulator configurations

Abstract

The results of investigations related to the development of technologies for the analytical designation of allowed configurations in the space of generalized coordinates are presented. All allowed configurations in the space of generalized coordinates are represented by a geometric object. This object is defined analytically using set of its bounding kinematic surfaces and set theory. The dependencies obtained allow us to define the region of allowed configurations being the knowledge base for the intelligent control of the motion of the mechanism in space.