ON CONTROLLING THE MOTION OF CLOSED LEVER-TYPE MECHANISMS WITH SEVERAL DEGREES OF FREEDOM

The solution of several robotics problems - such as selection of the optimal trajectory, selection of the motion law, selection of the driving forces and moments, and so on involves the evaluation of the quality of the current configuration of the mechanism. Several criteria have been proposed for this evaluation, including the modulus of the Jacobian of the system of equations of the geometric analysis of the mechanism, the sum of the squares of the equilibrating moments, and the minimal natural frequency of the mechanism with the motors and the other transfer mechanisms restrained. We examine the mechanism of a two-dimensional platform with redundant inputs. We examine variants of the motion of the actuator following a specific law with alternative activation of the motors, based on all three criteria, and also the variant with simultaneous operation of all the motors.