Method for Calculating Cartesian Coordinates of Operator’s Arm Joints for Anthropomorphic Manipulator Master⁃Slave Control Using Exoskeleton  

作　　者：Viacheslav Petrenko Fariza Tebueva Vladimir Antonov Mikhail Gurchinsky Nikolay Svistunov 

机构地区：[1]Institute of Information Technologies and Telecommunications,North-Caucasus Federal University,Stavropol 355009,Russian Federation

出　　处：《Journal of Harbin Institute of Technology(New Series)》2021年第5期38-46,共9页哈尔滨工业大学学报（英文版）

基　　金：Sponsored by the Federal Targeted Programme“Priority R&D of the Scientific and Technological Complex of Russia for 2014-2020”(Grant No.RFMEFI57517X0166);the financial support of the Ministry of Education and Science of the Russian Federation.

摘　　要：The main goal of the work is to increase the accuracy of the anthropomorphic manipulator master⁃slave teleoperation by calculating the coordinates of the operator’s arm joints.The master device is an exoskeleton worn on the operator’s arm,and the slave device is an anthropomorphic manipulator.A method based on the solution of the forward kinematics and empirical simplifications is proposed in this paper.The position of the nodal points of the exoskeleton was calculated by solving the direct kinematics problem.The coordinates of the operator’s arm joints,which were rigidly connected to the exoskeleton nodal points,were calculated geometrically.For the operator’s arm elbow joint,which was flexibly connected to the exoskeleton,an empirical relation was proposed.It simplified the calculation of the elbow joint position.The experiment showed a decrease in the mismatch between the operator’s arm angles and the manipulator joint angles from 20.7°to 2.9°.The proposed method increases the convenience of the master⁃slave control.

关 键 词：robotics anthropomorphic manipulator EXOSKELETON motion capture TELEOPERATION 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]