Control of a Four-Coordinate Manipulator with a Remote Center of Motion

Some issues in the development of a control system are considered for a manipulator with stepper actuators. For control of mechanisms with a remote center of motion, the methods to generate the control signals are presented when using unipolar and bipolar stepper motors. Examples of actuator control are given using different motion generators. The problems of development of motion generators and manipulator control methods for the simultaneous work of two or more actuators are considered.