coordinate system

The paper formulates the inverse kinematic problem for the robotic manipulator with six degrees of freedom. For the solution if this problem, the geometric method combined with the Denavit–Hartenberg transformation was applied. The Denavit–Hartenberg method offers the advantage of reducing the number of coordinates that determine the special position of the solid body from six to four. This method provides for an accurate positioning of the working tool. The inverse kinematic problem was solved. This problem aims at calculating the rotating angle of each axis.

The article proposes a solution of the forward kinematics problem for a welding manipulator with six degrees of freedom. Solving this problem is the first necessary step in creating a control system for this manipulator. This will make it possible to determine the displacement, accelerations and moments in each of the manipulator parts and will ensure accurate positioning of the welding tool.

The tensor representation of telecommunication network parameters for various coordinate systems is described. The number of two-way links between nodes at the virtual level of the network is determined. A multidimensional coordinate system, the components of which may be various network parameters, such as the load between nodes, is considered. The state of the network is represented in a covariant and contravariant coordinate system. For assisted covariant differentiation described the possibility of taking into account changes in the state based on the Christoffel symbols.