Implementation of a Constant Speed Mode for Control of a Manipulator with a Remote Center of Rotation

The problems of manual control of a manipulator using motion controllers with a logical output signal are considered. Controllers of various designs and logic of action are considered. Various control modes and principles are highlighted that allow the simultaneous operation of several drives using the example of a mechanism with four degrees of freedom and a remote center of rotation. Recommendations are given for choosing control methods and laws when developing spatial manipulators.