A method for the synthesis of the trajectory of the manipulator motion mechanism, based on the use of the field, set permissions configuration in the space of generalized coordinates. Investigated compliance with the provisions of points in space, and the output level of the configuration space.

Keywords: synthesis robot, configuration space, restricted areas, intelligent robot control system

The paper defines the maximum values of the parameters defining the projection angle android robot service implementation instantaneous states of the executive arms of the mechanism and the body, which is provided at a given output level accuracy positioning center.

Keywords: instant status manipulator mechanisms, virtual simulation of movements, service angle, humanoid robots

Studied mobility planar four-link mechanism of the manipulator in a predetermined area of the workspace. A method for determining the maximum rates for selected destinations for the mechanisms of manipulators with motor redundancy.

Keywords: own properties mechanisms manipulators, mobility manipulators, robots for the synthesis of movement velocity vector

Explored the area of space of configurations, defining a set of accessible points of the working area of the manipulator with the position of forbidden zones. For the analytical determination areas used theory of sets and a set of second-order surfaces.

Keywords: synthesis of movement of the robot, the configuration space, restricted areas, intelligent robot control system

The method of coding of the geometrical information is offered at the task of executive mechanisms on the basis of use of the set set of spatial primitive things and their orientation in mobile systems of co-ordinates. The method of a designation of geometrical models of mechanisms of robots is offered. One of advantages of the developed method of representation of geometrical models of kinematic chains, possibility of more exact task of a spatial configuration of manipulators by means of use of a considerable quantity of central points and various position of volume primitive things concerning a constructive plane is.

Keywords: Mechanisms of manipulators, geometrical models, virtual modelling of movements of robots