Please use this identifier to cite or link to this item: https://dspace.ncfu.ru/handle/20.500.12258/18580
Title: Method for calculating cartesian coordinates of operator's arm joints for anthropomorphic manipulator master-slave control using exoskeleton
Authors: Petrenko, V. I.
Петренко, В. И.
Tebueva, F. B.
Тебуева, Ф. Б.
Antonov, V. O.
Антонов, В. О.
Gurchinsky, M. M.
Гурчинский, М. М.
Svistunov, N. Y.
Свистунов, Н. Ю.
Keywords: Anthropomorphic manipulator;Teleoperation;Robotics;Motion capture;Exoskeleton
Issue Date: 2021
Publisher: Harbin Institute of Technology
Citation: Petrenko, V. I., Tebueva, F. B., Antonov, V. О., Gurchinsky, M. M., Svistunov, N. Y. Method for calculating cartesian coordinates of operator's arm joints for anthropomorphic manipulator master-slave control using exoskeleton // Journal of Harbin Institute of Technology (New Series). - 2021. - Том 28. - Выпуск 5. - Стр.:38 - 46. - DOI10.11916/j.issn.1005-9113.2020023
Series/Report no.: Journal of Harbin Institute of Technology (New Series)
Abstract: The main goal of the work is to increase the accuracy of the anthropomorphic manipulator master-slave teleoperation by calculating the coordinates of the operator's arm joints. The master device is an exoskeleton worn on the operator's arm, and the slave device is an anthropomorphic manipulator. A method based on the solution of the forward kinematics and empirical simplifications is proposed in this paper. The position of the nodal points of the exoskeleton was calculated by solving the direct kinematics problem. The coordinates of the operator's arm joints, which were rigidly connected to the exoskeleton nodal points, were calculated geometrically. For the operator's arm elbow joint, which was flexibly connected to the exoskeleton, an empirical relation was proposed. It simplified the calculation of the elbow joint position. The experiment showed a decrease in the mismatch between the operator's arm angles and the manipulator joint angles from 20.7° to 2.9°. The proposed method increases the convenience of the master-slave control.
URI: http://hdl.handle.net/20.500.12258/18580
Appears in Collections:Статьи, проиндексированные в SCOPUS, WOS

Files in This Item:
File SizeFormat 
scopusresults 2014 .pdf
  Restricted Access
1.47 MBAdobe PDFView/Open


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.