Robot Singular Motion at Onward Travelling and Kinematics Problem Solving and Covering of Workspace and Global Asymptotic Control

In this paper, we consider the plane motion of a mobile platform of a 3RPR type robot with three degrees of freedom [3]. For each time point, it is required to solve the minimization problem. The requirement of constancy of the rotation angle of the platform is obtained. Jacobian is used when moving from the speeds of actuators to the generalized speeds of the working tool. The method of the non-uniform coverings is applied for a planar parallel robot of 3RPR type. The coverings of the workspace are constructed for different rotation angles of the robot's mobile platform. Volumes of the workspace at different rotation angles were calculated. The dependence of the number of covering elements on the approximation tolerance and the length of the linking rods was analyzed. Control actions that ensure stabilization of intelligent electric power systems have been found.