Versatile algorithms of construction and optimization of programmed motions of manipulators

The proposed method whereby the programmed motions of manipulators are parametrically optimized in the class of $B$-splynes leads to algorithms of automatic manipulator programming which make the parameters of programmed motion self-adjusting in response to the obstacles, constraints, and boundary conditions. Computer experimentation results in design and optimization of programmed motions for various kinematic manipulator circuits testify to efficiency of these algorithms.