Abstract: A device for a body's spherical motion control connected with a frame by means of a spherical joint arranged on a shank connecting the body with the frame and through actuating arms with drives, where the shank is sectional and the spherical joint is arranged between the first part of the shank which is firmly fixed to the frame and the second part of the shank which is firmly fixed to the body, whereas the number of parallel arms with drives is redundant. In order to increase the accuracy of both the self-calibration itself and a follow-up positioning of the body in the work area and to achieve a large range of the body's rotating, the number of parallel arms with drives is five at minimum and the length of the first part of the shank connected to the frame is longer than the distance of the body edge from the point of connection of the shank to the body.

Abstract: A supporting structure for positioning manipulating arms that may be fitted with tools. The manipulating arms are unblocked for their relocation and/or for relocation of tools or parts held by the manipulating arms. Relocation of the manipulating arms into a new position is by means of a robot. Once relocated, the manipulating arms are again blocked. A supporting frame is fitted with at least one sliding guide and/or spherical joint in which each manipulating arm is movably disposed. Blocking and unblocking of the manipulating arms is achieved through the use of pneumatic or electrical power.

Abstract: The invention concerns a method for setting a position of manipulating arms on a supporting frame and a supporting frame (1) for positioning the manipulating arms fitted with tools (11) for attaching technological or measuring members, where the particular manipulating arms get unblocked for relocation in their placement and/or in their mutually moveable parts, they are relocated by means of a robot into a new demanded position where they are blocked in their placement and/or in their mutually moveable parts. The supporting frame for placement of the manipulating arms is fitted at least with one sliding guide (3) and/or spherical joint (16) in which the manipulating arm consisting at least of two mutually moveable parts is placed moveably, whereas the manipulating arm is fitted with blocking elements for blocking and unblocking motion in its placement and motion of its mutually moveable parts. The blocking elements are connected to a source (7) of pneumatic or hydraulic or electrical power.