Method of Semiautomatic Position Control by Manipulator Using Telecamera which Changes its Orientation

Abstract

This paper describes the method of semiautomatic position telecontrol by a multi-link manipulator using a setting device (SD). In this setup the kinematic schemes of the manipulator and the SD are different. The television camera in zone of work can change its spatial orientation. It can rotate around two mutually perpendicular axes by operator commands. The algorithm of work of computing system which forms setting signals for drives of manipulator is also represented in the paper. The results of executed experiments and mathematical simulation of the system work confirm effectiveness of this method.