Calculating rotation angles of the operator's arms based on generalized coordinates of the master device with following anthropomorphic manipulator in real time

The purpose of the manuscript is improving the accuracy of motion capture at following control of an anthropomorphic manipulator in real time using a master device, embodied as a lever mechanism with a kinematic scheme similar to a human arm. The generalized coordinates of the master device are used...

Descripción completa

Guardado en:

Detalles Bibliográficos
Autores principales:	Petrenko, V. I., Петренко, В. И., Tebueva, F. B., Тебуева, Ф. Б., Sychkov, V. B., Сучков, В. Б., Antonov, V. О., Антонов, В. О., Gurchinsky, M. M., Гурчинский, М. М.
Formato:	Статья
Lenguaje:	English
Publicado:	IAEME Publication 2018
Materias:	Anthropomorphic manipulator Geometric approach Inverse kinematic problem Seven rotating freedoms The denavite-hartenberg representation Three-link manipulator
Acceso en línea:	https://www.scopus.com/record/display.uri?eid=2-s2.0-85050867608&origin=resultslist&sort=plf-f&src=s&nlo=1&nlr=20&nls=afprfnm-t&affilName=north+caucasus+federal+university&sid=545d1ac7ea3ecfb3ddc30adabc566b35&sot=afnl&sdt=sisr&cluster=scopubyr%2c%222018%22%2ct&sl=53&s=%28AF-ID%28%22North+Caucasus+Federal+University%22+60070541%29%29&ref=%28Calculating+rotation+angles+of+the+operator%27s+arms+based+on+generalized+coordinates+of+the+master+device+with+following+anthropomorphic+manipulator+in%29&relpos=0&citeCnt=0&searchTerm= https://dspace.ncfu.ru/handle/20.500.12258/2903
Etiquetas:	Agregar Etiqueta Sin Etiquetas, Sea el primero en etiquetar este registro!

id	oai:10.200.131.19:20.500.12258-2903
record_format	dspace
spelling	oai:10.200.131.19:20.500.12258-29032018-09-05T12:41:53Z Calculating rotation angles of the operator's arms based on generalized coordinates of the master device with following anthropomorphic manipulator in real time Petrenko, V. I. Петренко, В. И. Tebueva, F. B. Тебуева, Ф. Б. Sychkov, V. B. Сучков, В. Б. Antonov, V. О. Антонов, В. О. Gurchinsky, M. M. Гурчинский, М. М. Anthropomorphic manipulator Geometric approach Inverse kinematic problem Seven rotating freedoms The denavite-hartenberg representation Three-link manipulator The purpose of the manuscript is improving the accuracy of motion capture at following control of an anthropomorphic manipulator in real time using a master device, embodied as a lever mechanism with a kinematic scheme similar to a human arm. The generalized coordinates of the master device are used to calculate the Cartesian axials of its nodes using the Denavite-Hartenberg representation. Then, the node coordinates of the operator's arm are determined based on the coordinates of the master device nodes and the existing kinematic links in the Cartesian space. A geometric solution of the inverse kinematics problem is developed to calculate the rotation angles of the operator's arm based on the Cartesian axials of its nodes. The developed method is based on the analytical solution of the problem of calculating the rotation angles of the operator's arm based on the generalized coordinates of the following control master device, which provides low computational complexity. The numerical experiment showed a decrease in the average error in following the operator's motions from up to a total of all rotating freedom, upon using the developed calculation method. The value of the obtained results consists in the possibility of calculating the rotation angles of the operator's arm based on the generalized coordinates of the following control master device in real time. This method will significantly improve the accuracy of the following control of an anthropomorphic manipulator using master devices embodied as a lever system with links parallel to the operator's arm 2018-09-05T12:40:41Z 2018-09-05T12:40:41Z 2018 Статья Petrenko, V.I., Tebueva, F.B., Sychkov, V.B., Antonov, V.O., Gurchinsky, M.M. Calculating rotation angles of the operator's arms based on generalized coordinates of the master device with following anthropomorphic manipulator in real time // International Journal of Mechanical Engineering and Technology. - 2018. - Volume 9. - Issue 7. - Pages 447-461 https://www.scopus.com/record/display.uri?eid=2-s2.0-85050867608&origin=resultslist&sort=plf-f&src=s&nlo=1&nlr=20&nls=afprfnm-t&affilName=north+caucasus+federal+university&sid=545d1ac7ea3ecfb3ddc30adabc566b35&sot=afnl&sdt=sisr&cluster=scopubyr%2c%222018%22%2ct&sl=53&s=%28AF-ID%28%22North+Caucasus+Federal+University%22+60070541%29%29&ref=%28Calculating+rotation+angles+of+the+operator%27s+arms+based+on+generalized+coordinates+of+the+master+device+with+following+anthropomorphic+manipulator+in%29&relpos=0&citeCnt=0&searchTerm= http://hdl.handle.net/20.500.12258/2903 en International Journal of Mechanical Engineering and Technology application/pdf IAEME Publication
institution	СКФУ
collection	Репозиторий
language	English
topic	Anthropomorphic manipulator Geometric approach Inverse kinematic problem Seven rotating freedoms The denavite-hartenberg representation Three-link manipulator
spellingShingle	Anthropomorphic manipulator Geometric approach Inverse kinematic problem Seven rotating freedoms The denavite-hartenberg representation Three-link manipulator Petrenko, V. I. Петренко, В. И. Tebueva, F. B. Тебуева, Ф. Б. Sychkov, V. B. Сучков, В. Б. Antonov, V. О. Антонов, В. О. Gurchinsky, M. M. Гурчинский, М. М. Calculating rotation angles of the operator's arms based on generalized coordinates of the master device with following anthropomorphic manipulator in real time
description	The purpose of the manuscript is improving the accuracy of motion capture at following control of an anthropomorphic manipulator in real time using a master device, embodied as a lever mechanism with a kinematic scheme similar to a human arm. The generalized coordinates of the master device are used to calculate the Cartesian axials of its nodes using the Denavite-Hartenberg representation. Then, the node coordinates of the operator's arm are determined based on the coordinates of the master device nodes and the existing kinematic links in the Cartesian space. A geometric solution of the inverse kinematics problem is developed to calculate the rotation angles of the operator's arm based on the Cartesian axials of its nodes. The developed method is based on the analytical solution of the problem of calculating the rotation angles of the operator's arm based on the generalized coordinates of the following control master device, which provides low computational complexity. The numerical experiment showed a decrease in the average error in following the operator's motions from up to a total of all rotating freedom, upon using the developed calculation method. The value of the obtained results consists in the possibility of calculating the rotation angles of the operator's arm based on the generalized coordinates of the following control master device in real time. This method will significantly improve the accuracy of the following control of an anthropomorphic manipulator using master devices embodied as a lever system with links parallel to the operator's arm
format	Статья
author	Petrenko, V. I. Петренко, В. И. Tebueva, F. B. Тебуева, Ф. Б. Sychkov, V. B. Сучков, В. Б. Antonov, V. О. Антонов, В. О. Gurchinsky, M. M. Гурчинский, М. М.
author_facet	Petrenko, V. I. Петренко, В. И. Tebueva, F. B. Тебуева, Ф. Б. Sychkov, V. B. Сучков, В. Б. Antonov, V. О. Антонов, В. О. Gurchinsky, M. M. Гурчинский, М. М.
author_sort	Petrenko, V. I.
title	Calculating rotation angles of the operator's arms based on generalized coordinates of the master device with following anthropomorphic manipulator in real time
title_short	Calculating rotation angles of the operator's arms based on generalized coordinates of the master device with following anthropomorphic manipulator in real time
title_full	Calculating rotation angles of the operator's arms based on generalized coordinates of the master device with following anthropomorphic manipulator in real time
title_fullStr	Calculating rotation angles of the operator's arms based on generalized coordinates of the master device with following anthropomorphic manipulator in real time
title_full_unstemmed	Calculating rotation angles of the operator's arms based on generalized coordinates of the master device with following anthropomorphic manipulator in real time
title_sort	calculating rotation angles of the operator's arms based on generalized coordinates of the master device with following anthropomorphic manipulator in real time
publisher	IAEME Publication
publishDate	2018
url	https://www.scopus.com/record/display.uri?eid=2-s2.0-85050867608&origin=resultslist&sort=plf-f&src=s&nlo=1&nlr=20&nls=afprfnm-t&affilName=north+caucasus+federal+university&sid=545d1ac7ea3ecfb3ddc30adabc566b35&sot=afnl&sdt=sisr&cluster=scopubyr%2c%222018%22%2ct&sl=53&s=%28AF-ID%28%22North+Caucasus+Federal+University%22+60070541%29%29&ref=%28Calculating+rotation+angles+of+the+operator%27s+arms+based+on+generalized+coordinates+of+the+master+device+with+following+anthropomorphic+manipulator+in%29&relpos=0&citeCnt=0&searchTerm= https://dspace.ncfu.ru/handle/20.500.12258/2903
work_keys_str_mv	AT petrenkovi calculatingrotationanglesoftheoperatorsarmsbasedongeneralizedcoordinatesofthemasterdevicewithfollowinganthropomorphicmanipulatorinrealtime AT petrenkovi calculatingrotationanglesoftheoperatorsarmsbasedongeneralizedcoordinatesofthemasterdevicewithfollowinganthropomorphicmanipulatorinrealtime AT tebuevafb calculatingrotationanglesoftheoperatorsarmsbasedongeneralizedcoordinatesofthemasterdevicewithfollowinganthropomorphicmanipulatorinrealtime AT tebuevafb calculatingrotationanglesoftheoperatorsarmsbasedongeneralizedcoordinatesofthemasterdevicewithfollowinganthropomorphicmanipulatorinrealtime AT sychkovvb calculatingrotationanglesoftheoperatorsarmsbasedongeneralizedcoordinatesofthemasterdevicewithfollowinganthropomorphicmanipulatorinrealtime AT sučkovvb calculatingrotationanglesoftheoperatorsarmsbasedongeneralizedcoordinatesofthemasterdevicewithfollowinganthropomorphicmanipulatorinrealtime AT antonovvo calculatingrotationanglesoftheoperatorsarmsbasedongeneralizedcoordinatesofthemasterdevicewithfollowinganthropomorphicmanipulatorinrealtime AT antonovvo calculatingrotationanglesoftheoperatorsarmsbasedongeneralizedcoordinatesofthemasterdevicewithfollowinganthropomorphicmanipulatorinrealtime AT gurchinskymm calculatingrotationanglesoftheoperatorsarmsbasedongeneralizedcoordinatesofthemasterdevicewithfollowinganthropomorphicmanipulatorinrealtime AT gurčinskijmm calculatingrotationanglesoftheoperatorsarmsbasedongeneralizedcoordinatesofthemasterdevicewithfollowinganthropomorphicmanipulatorinrealtime
_version_	1760531721845997568

Calculating rotation angles of the operator's arms based on generalized coordinates of the master device with following anthropomorphic manipulator in real time

Ejemplares similares