Abstract. Semi-automatic control systems of robot-manipulators using various algorithms of control according to vectors of velocity control, position, and force of the robot gripper that correspond to technological oper-ations performed by robot-manipulators, are considered. A complex of computer models for the investiga-tion of the control systems under consideration is developed. The algorithms schematics are demonstrated and units of the computer models for studying open-loop and closed-loop control systems are described. Results of modeling of semi-automatic systems for control by velocity vector assigned by the human operator are presented. Recommendations for application the developed complex of models for training operators of semi-automatic control systems for robot-manipulators are given.

Keywords: robot-manipulator, biotechnical control systems, human-operator, semi-automatic control systems, algorithms of vector control, simulation, robot simulators

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