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 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.