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

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 sho...

ver descrição completa

Na minha lista:

Detalhes bibliográficos
Главные авторы:	Tebueva, F. B., Тебуева, Ф. Б., Petrenko, V. I., Петренко, В. И., Antonov, V. O., Антонов, В. О., Gurchinsky, M. M., Гурчинский, М. М.
Formato:	Статья
Idioma:	English
Publicado em:	Praise Worthy Prize 2019
Assuntos:	Anthropomorphic manipulator Calculation of double point coordinates Determination of triaxle coordinates Direct kinematic problem Inverse kinematic problem Master-slave teleoperation Robototronics
Acesso em linha:	https://www.scopus.com/record/display.uri?eid=2-s2.0-85058820218&origin=resultslist&sort=plf-f&src=s&st1=The+method+for+determining+the+relative+positions+of+the+operator%27s+arm+for+master-slave+teleoperation+of+&st2=&sid=560cd6e4d8a6db3bf7d16fa3bd21e88a&sot=b&sdt=b&sl=121&s=TITLE-ABS-KEY%28The+method+for+determining+the+relative+positions+of+the+operator%27s+arm+for+master-slave+teleoperation+of+%29&relpos=0&citeCnt=0&searchTerm= https://dspace.ncfu.ru/handle/20.500.12258/4163
Tags:	Adicionar Tag Sem tags, seja o primeiro a adicionar uma tag!

id	ir-20.500.12258-4163
record_format	dspace
spelling	ir-20.500.12258-41632020-07-08T12:31:34Z The method for determining the relative positions of the operator’s arm for master-slave teleoperation of anthropomorphic manipulator Tebueva, F. B. Тебуева, Ф. Б. Petrenko, V. I. Петренко, В. И. Antonov, V. O. Антонов, В. О. Gurchinsky, M. M. Гурчинский, М. М. Anthropomorphic manipulator Calculation of double point coordinates Determination of triaxle coordinates Direct kinematic problem Inverse kinematic problem Master-slave teleoperation Robototronics 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 2019-02-05T14:34:26Z 2019-02-05T14:34:26Z 2018 Статья Tebueva, F.B., Petrenko, V.I., Antonov, V.O., Gurchinsky, M.M. The method for determining the relative positions of the operator’s arm for master-slave teleoperation of anthropomorphic manipulator // International Review of Mechanical Engineering. - 2018. - Volume 12. - Issue 8. - Pages 694-704 https://www.scopus.com/record/display.uri?eid=2-s2.0-85058820218&origin=resultslist&sort=plf-f&src=s&st1=The+method+for+determining+the+relative+positions+of+the+operator%27s+arm+for+master-slave+teleoperation+of+&st2=&sid=560cd6e4d8a6db3bf7d16fa3bd21e88a&sot=b&sdt=b&sl=121&s=TITLE-ABS-KEY%28The+method+for+determining+the+relative+positions+of+the+operator%27s+arm+for+master-slave+teleoperation+of+%29&relpos=0&citeCnt=0&searchTerm= http://hdl.handle.net/20.500.12258/4163 en International Review of Mechanical Engineering application/pdf Praise Worthy Prize
institution	СКФУ
collection	Репозиторий
language	English
topic	Anthropomorphic manipulator Calculation of double point coordinates Determination of triaxle coordinates Direct kinematic problem Inverse kinematic problem Master-slave teleoperation Robototronics
spellingShingle	Anthropomorphic manipulator Calculation of double point coordinates Determination of triaxle coordinates Direct kinematic problem Inverse kinematic problem Master-slave teleoperation Robototronics Tebueva, F. B. Тебуева, Ф. Б. Petrenko, V. I. Петренко, В. И. Antonov, V. O. Антонов, В. О. Gurchinsky, M. M. Гурчинский, М. М. The method for determining the relative positions of the operator’s arm for master-slave teleoperation of anthropomorphic manipulator
description	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
format	Статья
author	Tebueva, F. B. Тебуева, Ф. Б. Petrenko, V. I. Петренко, В. И. Antonov, V. O. Антонов, В. О. Gurchinsky, M. M. Гурчинский, М. М.
author_facet	Tebueva, F. B. Тебуева, Ф. Б. Petrenko, V. I. Петренко, В. И. Antonov, V. O. Антонов, В. О. Gurchinsky, M. M. Гурчинский, М. М.
author_sort	Tebueva, F. B.
title	The method for determining the relative positions of the operator’s arm for master-slave teleoperation of anthropomorphic manipulator
title_short	The method for determining the relative positions of the operator’s arm for master-slave teleoperation of anthropomorphic manipulator
title_full	The method for determining the relative positions of the operator’s arm for master-slave teleoperation of anthropomorphic manipulator
title_fullStr	The method for determining the relative positions of the operator’s arm for master-slave teleoperation of anthropomorphic manipulator
title_full_unstemmed	The method for determining the relative positions of the operator’s arm for master-slave teleoperation of anthropomorphic manipulator
title_sort	method for determining the relative positions of the operator’s arm for master-slave teleoperation of anthropomorphic manipulator
publisher	Praise Worthy Prize
publishDate	2019
url	https://www.scopus.com/record/display.uri?eid=2-s2.0-85058820218&origin=resultslist&sort=plf-f&src=s&st1=The+method+for+determining+the+relative+positions+of+the+operator%27s+arm+for+master-slave+teleoperation+of+&st2=&sid=560cd6e4d8a6db3bf7d16fa3bd21e88a&sot=b&sdt=b&sl=121&s=TITLE-ABS-KEY%28The+method+for+determining+the+relative+positions+of+the+operator%27s+arm+for+master-slave+teleoperation+of+%29&relpos=0&citeCnt=0&searchTerm= https://dspace.ncfu.ru/handle/20.500.12258/4163
work_keys_str_mv	AT tebuevafb themethodfordeterminingtherelativepositionsoftheoperatorsarmformasterslaveteleoperationofanthropomorphicmanipulator AT tebuevafb themethodfordeterminingtherelativepositionsoftheoperatorsarmformasterslaveteleoperationofanthropomorphicmanipulator AT petrenkovi themethodfordeterminingtherelativepositionsoftheoperatorsarmformasterslaveteleoperationofanthropomorphicmanipulator AT petrenkovi themethodfordeterminingtherelativepositionsoftheoperatorsarmformasterslaveteleoperationofanthropomorphicmanipulator AT antonovvo themethodfordeterminingtherelativepositionsoftheoperatorsarmformasterslaveteleoperationofanthropomorphicmanipulator AT antonovvo themethodfordeterminingtherelativepositionsoftheoperatorsarmformasterslaveteleoperationofanthropomorphicmanipulator AT gurchinskymm themethodfordeterminingtherelativepositionsoftheoperatorsarmformasterslaveteleoperationofanthropomorphicmanipulator AT gurčinskijmm themethodfordeterminingtherelativepositionsoftheoperatorsarmformasterslaveteleoperationofanthropomorphicmanipulator AT tebuevafb methodfordeterminingtherelativepositionsoftheoperatorsarmformasterslaveteleoperationofanthropomorphicmanipulator AT tebuevafb methodfordeterminingtherelativepositionsoftheoperatorsarmformasterslaveteleoperationofanthropomorphicmanipulator AT petrenkovi methodfordeterminingtherelativepositionsoftheoperatorsarmformasterslaveteleoperationofanthropomorphicmanipulator AT petrenkovi methodfordeterminingtherelativepositionsoftheoperatorsarmformasterslaveteleoperationofanthropomorphicmanipulator AT antonovvo methodfordeterminingtherelativepositionsoftheoperatorsarmformasterslaveteleoperationofanthropomorphicmanipulator AT antonovvo methodfordeterminingtherelativepositionsoftheoperatorsarmformasterslaveteleoperationofanthropomorphicmanipulator AT gurchinskymm methodfordeterminingtherelativepositionsoftheoperatorsarmformasterslaveteleoperationofanthropomorphicmanipulator AT gurčinskijmm methodfordeterminingtherelativepositionsoftheoperatorsarmformasterslaveteleoperationofanthropomorphicmanipulator
_version_	1760600064210763776

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

Registos relacionados