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

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

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 o...

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Những tác giả chính: Petrenko, V. I., Петренко, В. И., Tebueva, F. B., Тебуева, Ф. Б., Sychkov, V. B., Сычков, В. Б., Kabinyakov, M. Y., Кабиняков, М. Ю., Untewsky, N. Y., Унтевский, Н. Ю.
Định dạng: Статья
Ngôn ngữ:English
Được phát hành: CEUR-WS 2020
Những chủ đề:
Anthropomorphic manipulator
Copying control
Mathematical method
Truy cập trực tuyến:https://dspace.ncfu.ru/handle/20.500.12258/12070
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id ir-20.500.12258-12070
record_format dspace
spelling ir-20.500.12258-120702020-06-18T13:27:24Z Mathematical method of mapping configuration space for manipulator master-slave teleoperation Petrenko, V. I. Петренко, В. И. Tebueva, F. B. Тебуева, Ф. Б. Sychkov, V. B. Сычков, В. Б. Kabinyakov, M. Y. Кабиняков, М. Ю. Untewsky, N. Y. Унтевский, Н. Ю. Anthropomorphic manipulator Copying control Mathematical method 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 2020-06-18T13:23:25Z 2020-06-18T13:23:25Z 2019 Статья Petrenko, V.I., Tebueva, F.B., Sychkov, V.B., Kabinyakov, M.Y., Untevsky, N.Y. Mathematical method of mapping configuration space for manipulator master-slave teleoperation // CEUR Workshop Proceedings. - 2019. - Volume 2500. - Pages 1-9 http://hdl.handle.net/20.500.12258/12070 en CEUR Workshop Proceedings application/pdf CEUR-WS
institution СКФУ
collection Репозиторий
language English
topic Anthropomorphic manipulator
Copying control
Mathematical method
spellingShingle Anthropomorphic manipulator
Copying control
Mathematical method
Petrenko, V. I.
Петренко, В. И.
Tebueva, F. B.
Тебуева, Ф. Б.
Sychkov, V. B.
Сычков, В. Б.
Kabinyakov, M. Y.
Кабиняков, М. Ю.
Untewsky, N. Y.
Унтевский, Н. Ю.
Mathematical method of mapping configuration space for manipulator master-slave teleoperation
description 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
format Статья
author Petrenko, V. I.
Петренко, В. И.
Tebueva, F. B.
Тебуева, Ф. Б.
Sychkov, V. B.
Сычков, В. Б.
Kabinyakov, M. Y.
Кабиняков, М. Ю.
Untewsky, N. Y.
Унтевский, Н. Ю.
author_facet Petrenko, V. I.
Петренко, В. И.
Tebueva, F. B.
Тебуева, Ф. Б.
Sychkov, V. B.
Сычков, В. Б.
Kabinyakov, M. Y.
Кабиняков, М. Ю.
Untewsky, N. Y.
Унтевский, Н. Ю.
author_sort Petrenko, V. I.
title Mathematical method of mapping configuration space for manipulator master-slave teleoperation
title_short Mathematical method of mapping configuration space for manipulator master-slave teleoperation
title_full Mathematical method of mapping configuration space for manipulator master-slave teleoperation
title_fullStr Mathematical method of mapping configuration space for manipulator master-slave teleoperation
title_full_unstemmed Mathematical method of mapping configuration space for manipulator master-slave teleoperation
title_sort mathematical method of mapping configuration space for manipulator master-slave teleoperation
publisher CEUR-WS
publishDate 2020
url https://dspace.ncfu.ru/handle/20.500.12258/12070
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