Method of defining region of allowed configurations in multidimensional space of generalized coordinates using hypercube graph

Abstract

The work is devoted to the development of a knowledge base on possible positions of an android arm mechanism with allowance for the position of the previously known forbidden zone. The knowledge base is used for intelligent control of the arm movement of an android robot that functions autonomously in an organized space without human-operator assistance. The specified knowledge base is determined by the region of allowed configurations in the multidimensional space of generalized coordinates. Based on the methods of geometrical modeling, a representation method of the allowable configuration region with the use of hypercube graph is proposed.