Investigation of area specified the set allowed configurations in finding mechanism of mobile manipulator in the vicinity from the forbidden zones

Abstract

Investigation of area specified the set allowed configurations in finding mechanism of mobile manipulator in the vicinity from the forbidden zones

Pritykin F.N., Nefedov D.I., Ringelman A.V.

Incoming article date: 29.05.2015

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