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In this paper, mathematical computations for the positioning of a manipulator are presented. Under real conditions of the functioning of the industrial mechanisms, it becomes necessary to correct the velocity of the specifying signals and their values reading as the function of the coordinates equality of the initial and final points of the displacement of the calculated and the required trajectories of the mechanism operation unit motion as well as dynamic capabilities of the executive drive. The suggested method for forming specific trajectories of the drive motion is universal and can be used in designing the position systems of different control mechanisms.
Date of Conference: 7-11 April 2003