Computation of manipulator mechanism path in joint coordinate space with working range forbidden regions

Robot independent operation with forbidden regions is provided due to the use of intelligent control systems. The aim of the research is the development of the method which allows the calculation time necessary for the analysis of the manipulator mechanism virtual interaction with the external environment to be reduced. With this aim in view the path synthesis of a manipulator mechanism is proposed, using the region assigning permissible configurations in joint coordinate space. The correspondence of output link positions space points and configuration space is investigated. The method of analytical surface assignment is introduced for the manipulator mechanism path calculation. This surface defines a number of configurations, the output link center of them lying in the given straight line segment. The research results have shown that the developed method reduces the calculation time due to virtual modeling of manipulator mechanism motions.