Control algorithms for manipulator's grab motions

Paper describes three basic functions used in a work-area motion formation algorithms for a robotic arm with object in its grab. An implementation of those functions for a robotic arm with kinematics complicated by a lateral mount of the grab is under consideration. Operators of vector algorithms for solving direct and inverse kinematic problems are developed. Methods for resolving robotic arm configuration ambiguity are defined. Algorithms for grab with video camera are described.