The method for determining the relative positions of the operator’s arm for master-slave teleoperation of anthropomorphic manipulator

Abstract

The aim of the article is to increase the accuracy of the capture of the operator’s arm for the master-slave teleoperation anthropomorphic manipulator. As the master device, a mechanical system is considered, the links of which are parallel to the operator’s arm. The Cartesian coordinates of the shoulder joint, carpal joint and the operator’s hand, are determined by solving the direct kinematics problem through the Denavite-Hartenberg representation. A new geometrical method for solving the inverse kinematics problem for determining the Cartesian coordinates of the elbow joint is proposed. The proposed method provides an accurate determining of the position of the operator’s arm for the considered master device. The low computational complexity of the geometric method makes it possible to use it in real-time systems. The value of the research is determined by the urgency of the problem of the accuracy of masterslave teleoperation