Abstract
The problem of realizing the relative movements of the two manipulators output links having a single control system is considered. This problem arises at controlling two-armed robots and production automation. The relative motion of the output links is provided by a fourth-order matrix, which reflects the mutual orientation of the coordinate systems connected by the output links, and the relative coordinates of these coordinate systems origin. Manipulators have three degrees of freedom, but at the relative movement the working links can realize up to six degrees of freedom. The inverse problems solutions of relative motion are obtained and expressions for the manipulators generalized coordinates taken as control variables are found.
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