Using weight values of generalized velocities to handle deadlocks in the synthesis of anthropomorphic robot arm movement

Abstract

When controlling the movement of an anthropomorphic robot arm mechanism in an organized space with forbidden regions, there is a possibility of deadlocks. The paper studies the motion synthesis using weight coefficients of generalized velocities in order to prevent deadlocks. As a result an algorithm for the motion synthesis using weight coefficients in the virtual simulation of the anthropomorphic robot arm movements is developed.