Abstract
The paper proposes a method for overcoming deadlocks in implementation of the android arm mechanism movement in an organized space in the vector of velocities. The proposed method is based on the calculation of the allowable positioning accuracy of the output link center in order to change the position of the arm configuration relative to the forbidden zones with a deviation from the specified trajectory. An algorithm based on this method is proposed, and an implementation of a test case confirming the functional check of this algorithm is presented.
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