Archive of Scientific Articles

Abstract. In this article kinematics direct and inverse problems of the six-axis manipulator original part are solved geometrically. It allows determining the position of the manipulator executive element for each time moment and choosing a load scheme for fixing the forces, which act on the manipulator.

Key words and phrases: манипулятор, рабочий стол, стержень, прямая и обратная задачи кинематики, абсолютная система координат, обобщенные координаты, рабочий орган манипулятора, manipulator, work table, rod, kinematics direct and inverse problems, system of absolute coordinates