The paper proposes a method that allows the modernization of the methodology for constructing manipulator movements according to the velocity vector, which makes it possible to exclude the occurrence of deadlocks in the process of computer simulation of movements. The developed algorithm is based on the use of a database characterizing the values of kinematic parameters that set the permissible instantaneous states of the manipulator mechanism at its various positions. A graphical representation of the hypersurface reflecting the relationship of these kinematic parameters from the values of generalized coordinates is performed. Based on this a method for determining kinematic parameters in the synthesis of movements of manipulator mechanisms in organized environments is proposed, which reduces the calculation time of intermediate configurations on a given trajectory of the output link and partially eliminates the occurrence of deadlocks. The results of the computer simulation of the movement of the arm and torso of the android robot on the criterion of minimization of the volume of movement, as well as movement taking into account the position of the forbidden zone with the overcoming of the deadlock situation are presented. The conducted studies can be used in the development of information and control complexes of mobile objects, in particular in the development of intelligent control systems for autonomously functioning robots in organized environments.