Planning of joint movements of gripping points of the reinforcing manipulator in the winding of articles with variable curvature

Yu. A. Isakov, “Calculation of the parameters of spiral winding with threads and strands,” Mekh. Polim. No. 4, 599 (1974). L. N. Rassudov, V. N. Myadzel', and S. G. Mamaev, “Use of algorithms for the control of the working organs of winding stands for the production of fiberglass shells,” Mekh. Polim., No. 1, 30 (1977). V. V. Alekseichik, A. G. Dushenko, V. K. Ershov, and Ya. Ya. Chikil'din, “Influence of disturbances of the programmed trajectory on the winding precision,” in: Control Systems [in Russian], Tr. Novocherk. Politekh. Inst., Vol. 310, Novocherkassk (1975), pp. 24–28. L. N. Rassudov, V. N. Myadzel', and S. G. Mamaev, “Use of algorithms for the control of the working organs of winding stands for the production of fiberglass shells. Communication 2,” Mekh. Polim., No. 3, 435 (1978).