ON THE ACCURACY OF POSITIONING OF MOBILE ROBOT'S WALKING PROPULSION DEVICES
The problems of the influence of the choice of the kinematic scheme of the walking mechanism on the positioning accuracy of its foot with the same small positioning errors are considered. The relationships between the laws of changing the coordinates of the foot of the walking mechanism as a material point and the change in the position of the output elements of the motors of the drives of the orthogonal mover and the mover with a parallel chain of drives are established.