Mathematical method of mapping configuration space for manipulator master-slave teleoperation

Abstract

The aim of the article is to expand the functionality of the copy control of an anthropomorphic manipulator using an exoskeleton master device. To achieve the goal, the article proposed a mathematical method for mapping the configuration space of the master manipulator into the configuration space of the slave manipulator. The developed mathematical method is based on the requirements of maximizing the working space of the slave manipulator, the uniqueness of the correspondence of the position of the slave manipulator to the position of the master manipulator and the human-like movements