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Decision of the direct position problem of the joint relative manipulation mechanism with five degrees of freedom

Pashchenko V. N., Meleshchenko D. I., Rashoyan G. V., Malyshev D. I., Kuzmina V. S.

International Journal of Applied Mechanics and Engineering

2018

Vol. 23, no. 4

1025--1033

One of the mechanisms of joint relative manipulation with five degrees of freedom is considered. An approach to solving the direct positional problem is described. A simplified 3D model was created to verify the correctness of the solution. The results of a comparison of calculated and experimental data are presented.