Motion control for a manipulator assembled of the same modules

The control of a manipulator that consists of the same modules is described. The design of modules allows one to implement a sufficiently large number of kinematic schemes. A description of these schemes was proposed, and software was developed, which is automatically adjusted to a given kinematic scheme. The control system provides a motion control for the gripper in the Cartesian absolute axes and monitoring of collisions between the modules. The working motions are reflected on a screen in real time. The successful solution of the problem of automatic adjustment of the control system and the visualization of motions make it possible to use universal module structures in many practical applications.