Abstract
This article describes the positioning system of defectoscopic equipment for nondestructive examination of complex shaped parts made of polymer composite materials. The purpose of the system and features of the investigated objects are described. The rationale for the development of the system and the range of problems it solves are presented. The solution of the kinematics problem for a 5-DOF manipulator is considered. The original algorithms for solving the kinematics problem are demonstrated. Methods for resolving collisions for a manipulator system are described. The results obtained in the course of experiments and studies are presented.
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