№3 (58), 2021. ROBOTS, MECHATRONICS AND ROBOTIC SYSTEMS

Cable manipulators with a parallel kinematic structure are increasingly used in industrial production, construction, and medical technology. In this paper, we consider the kinematic diagram of an eight-link manipulator of a parallel structure with flexible links. A method for solving direct and inverse problems of kinematics is selected, on the basis of which a method for planning the movement of the working body is implemented. A variant of the implementation of the system for the formation of control actions for each of the generalized coordinates is considered. The control system is implemented in hardware. The general structural diagram of the control system and the diagram of the formation of the control action along the generalized coordinate are considered.