Abstract
This article discusses the the selection and justification of the reference system and of the generalized coordinates for the kinematic scheme developed by of the manipulator taking into account these factors. The absolute (inertial) coordinate system associated with the center of the support member (eg turntable), joins the arm to the base machine and the subsequent coordinate system formed in accordance with the rules. On the whole, to describe the position of the investigated little detail of the manipulator in the space of generalized coordinates must be four and five right-hand orthogonal coordinate systems.
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