On One Method of Modeling Multi-link Manipulators with Geometric Connections, Taking into Account the Parameters of the Links

For the effective application of the results of mathematical control theory with incomplete information in problems of control of technical objects, it is necessary to have an adequate mathematical model of these objects. The construction of such models in the problems of managing multilink manipulators is associated with the need to solve the inverse problem of kinematics. The analytical solution of this problem is hampered by the obvious ambiguity of the answer, requires continuous control of the rank of the Jacobian, and is associated with a large amount of computation. To eliminate ambiguity, it is possible to introduce some criteria, the minimization of which will determine the rational choice of such a solution. One of the possible approaches is the analysis of resource costs for the formation and implementation of control actions. The application of this approach significantly increases the requirements for the complexity of the mathematical model. This report discusses the problems of the necessary complication of the model on two versions of a two-link manipulator with two geometric constraints.