Please use this identifier to cite or link to this item: https://dspace.ncfu.ru/handle/20.500.12258/3744
Title: Solution of the dynamics inverse problem with the copying control of an anthropomorphic manipulator based on the predictive estimate of the operator's hand movement using the updated Brown method
Authors: Petrenko, V. I.
Петренко, В. И.
Tebueva, F. B.
Тебуева, Ф. Б.
Gurchinsky, M. M.
Гурчинский, М. М.
Antonov, V. O.
Антонов, В. О.
Shutova, J. A.
Шутова, Ю. А.
Keywords: Automation;Dynamic;Manipulator;Anthropomorphic manipulator;Copy control;Dynamic control;Hand movement;Motion law;Inverse problem
Issue Date: 2018
Publisher: Institute of Physics Publishing
Citation: Petrenko, V.I., Tebueva, F.B., Gurchinsky, M.M., Antonov, V.O., Shutova, J.A. Solution of the dynamics inverse problem with the copying control of an anthropomorphic manipulator based on the predictive estimate of the operator's hand movement using the updated Brown method // IOP Conference Series: Materials Science and Engineering. - 2018. - Volume 450. - Issue 4. - Номер статьи 042013
Series/Report no.: IOP Conference Series: Materials Science and Engineering
Abstract: The aim of the article is the implementation of a dynamic copying control by an anthropomorphic manipulator. Dynamic control would create greater accuracy of movement and less wear on parts. A feature of the copy control is the formation of the motion law in the process of the manipulator movement, which creates difficulties for the implementation of copy control. To solve the problem, it is proposed to exchange defining the motion law of the operator's hand by its predictive estimate obtained using the updated Brown method. The results of simulation carried out on a large number of test movements show the effectiveness of the proposed solutions
URI: https://www.scopus.com/record/display.uri?eid=2-s2.0-85058659075&origin=resultslist&sort=plf-f&src=s&nlo=&nlr=&nls=&sid=0eb125f3dabeaafa91db860f6e38ca11&sot=aff&sdt=cl&cluster=scopubyr%2c%222018%22%2ct&sl=174&s=AF-ID%28%22North+Caucasus+Federal+University%22+60070541%29+OR+AF-ID%28%22Stavropol+State+University%22+60070961%29+OR+AF-ID%28%22stavropolskij+Gosudarstvennyj+Tehniceskij+Universitet%22+60026323%29&relpos=6&citeCnt=0&searchTerm=
http://hdl.handle.net/20.500.12258/3744
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