The Study of the Problems of the Master-Slave Teleoperation Control Anthropomorphic Manipulator

DOI

10.2991/itids-19.2019.29How to use a DOI?

Keywords

master-slave teleoperation control, anthropomorphic manipulator, exoskeleton, encoder, signal discretization, signal interpolation

Abstract

This article describes the problems of anthropomorphic manipulators (AM) master-slave teleoperation control. The aim of the work is to study the problems of the teleoperation control accuracy. The scheme of copying control system is considered in the article. The most characteristic problems for this control method are allocated. The discretization and restoring of the signal examples describing the rotation angle dependence of the manipulator joint on time are made. Real-time smoothing methods based on the calculation of the speed and acceleration of the signal change, as well as smoothing by piecewise linear interpolation with a delay of one discrete time tick are applied to the restored signal. For the restored signals with smoothing and without smoothing, the root mean square of deviation from the initial signal is estimated.

Copyright

© 2019, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Vyacheslav Petrenko
AU  - Fariza Tebueva
AU  - Mikhail Gurchinsky
AU  - Sergey Ryabtsev
AU  - Nikolay Svistunov
PY  - 2019/05
DA  - 2019/05
TI  - The Study of the Problems of the Master-Slave Teleoperation Control Anthropomorphic Manipulator
BT  - Proceedings of the 7th Scientific Conference on Information Technologies for Intelligent Decision Making Support (ITIDS 2019)
PB  - Atlantis Press
SP  - 159
EP  - 164
SN  - 1951-6851
UR  - https://doi.org/10.2991/itids-19.2019.29
DO  - 10.2991/itids-19.2019.29
ID  - Petrenko2019/05
ER  -