Studying tolerance range of generalized velocities vector under android motion synthesis

A necessity to develop hybrid intelligent control systems occurs in order to ensure robots autonomous functioning in a sophisticated environment. One of the elements of these control systems is the block providing virtual modeling based on environmental models and a manipulator mechanism. The capability of the manipulator mechanism at the initial stage of motion task implementation in these control systems is assessed virtually. If the task from the initial point to the goal has been modeled virtually, force torque algorithm of control is then used, the sensory-based system being applied. The aim of this research is the development of a method which enables to reduce the computation time for android motions virtual modeling. In order to achieve this, the task of defining the tolerance ranges of generalized velocities vector of an android for various positions of arm mechanism under motions synthesis along a velocity vector. To assign this region, a method based on examination of instantaneous states of the android arm mechanism is applied, these states satisfying a desired accuracy of the output link center positioning. The set theory is used for analytical assignment of the region in multidimensional space. The research results demonstrate that the developed method reduces the computation time needed for virtual modeling of motions of an android arm mechanism.