Abstract
This chapter describes two methods of semiautomatic position and combined telecontrol by multi-link manipulators using special setting devices (SD), which kinematic schemes are differed from the kinematic schemes of manipulators. For the survey of working space the mobile television cameras are used. Optical axes of these cameras can change its spatial orientations during performance of operations. They can rotate around two mutually perpendicular axes by operator commands. The algorithms of work of computing systems which form the setting signals for drives of all degrees of freedom of manipulators are represented and researched. The results of executed experiments and mathematical simulation of the systems work confirm effectiveness of these methods.
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This work was financed by the Russian Foundation for Basic Research grants.
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Filaretov, V., Katsurin, A. (2016). Semiautomatic Telecontrol by Multi-link Manipulators Using Mobile Telecameras. In: Hadjiski, M., Kasabov, N., Filev, D., Jotsov, V. (eds) Novel Applications of Intelligent Systems. Studies in Computational Intelligence, vol 586. Springer, Cham. https://doi.org/10.1007/978-3-319-14194-7_11
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DOI: https://doi.org/10.1007/978-3-319-14194-7_11
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