ScienceDirect. Development of the System of Telecontrol by the Multilink Manipulator Installed on the Mobile Robot

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Junior Ramsey
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1 vaabe onne at SeneDret roeda Engneerng 7 77 th D Internatona Sympoum on Integent anufaturng and utomaton, D Deveopment of the Sytem of Teeontro by the utnk anpuator Intaed on the obe obot Faretov Vadmr a,b, aturn exey a,b, * a Inttute of utomaton and Contro roee, Vadvotok 9 ua b Far Eatern Federa Unverty, Vadvotok, 999 ua btrat Th paper derbe the ytem of emautomat poton teeontro by the mutnk manpuator ntaed on the mobe robot. The operator ue a pea ettng deve for ontro. The teeamera whh form the mage on the operator' montor ntaed on other mobe robot. Th amera an rotate about two mutuay perpenduar axe. The ytem of teeontro make t pobe to automatay take nto aount the pata orentaton of teevon amera. The workng agorthm of the omputng ytem propoed and examned. Th agorthm form ontro gna for drve of a degree of freedom of the manpuator. The reut of exeuted experment onfrm effetvene of deveoped ytem. The uthor. ubhed by Eever by Eever Ltd. Th Ltd. an open ae arte under the CC BY-NC-ND ene eer-revew under reponbty of D Internatona Venna. eer-revew under reponbty of D Internatona Venna eyword: ehatron; mutnk manpuator; teeontro; movabe amera; mobe robot. Introduton Now the reaton of robot ompexe ntended for the preventon or emnaton of oneuene of adent and emergeny tuaton on varou obet topa probem. The ung of mobe robot for the urrent montorng of hard-to-reah or dangerou pae for the peron ao expedent. The man feature of work n extreme ondton bady ordered and nondetermnt envronment. The nformaton about t nompete. Th nformaton an be dynam and unpredtabe. It demand ontnuou repenhment and update of nformaton and * Correpondng author. Te.: E-ma addre: katurn@ma.ru The uthor. ubhed by Eever Ltd. Th an open ae arte under the CC BY-NC-ND ene eer-revew under reponbty of D Internatona Venna do:./.proeng...

2 7 Faretov Vadmr and aturn exey / roeda Engneerng 7 77 ao orreton of the made deon on the ba of newy obtaned data. Bede, the exeuted operaton uuay are non-tandard and rather dffut. Therefore n uh ytem the method of emautomat ontro uuay ued, when the operator provde moton of the manpuator grp by mean of the ettng deve [-9]. The operator ettng ontro gna on the ba of the mage of workng pae on the teemontor reen. For effetve ontro of a workng zone of the mutnk manpuator ntaed n the dangerou pae t often neeary to ue evera teevon amera wth varou orentaton of ther opta axe. o t pobe to ue one teevon amera whh ha pobty to hange t orentaton and pobty to movement n a workng zone. However, the pefed operatng mode not away onvenent and not away provde hgh-uaty performane of tehnooga operaton. In th ae the operator mut to onder ontanty a reatve poton of the manpuator, ettng deve and teevon amera. It ead to bg addtona oad on the operator. Bede, the ettng deve an appear n tuaton nonvenent for the operator durng the exeuton of operaton. nown approahe to deveopment of ytem of emautomat ontro don't aow ynthezng the effetve ytem workng n uh ondton. Thu the probem of deveopment of new method and agorthm of effetve teeontro by mutnk manpuator wth hange of orentaton of an opta ax of a amera reman t topa.. Tak ettng The tak of deveopment of ytem of emautomat poton teeontro by the mutnk manpuator ntaed on the mobe robot ettng and ovng n paper for the deon of pefed probem. The operator ue a pea ettng deve for ontro and et ontro ommand ung mage on the montor. The teeamera whh form the mage on the operator' montor ntaed on other mobe robot. Th amera an rotate around two mutuay perpenduar axe. The ytem of teeontro make t pobe to automatay take nto aount the pata orentaton of teevon amera. The workng agorthm of the omputng ytem propoed and examned. Th agorthm form ontro gna for drve of a degree of freedom of the manpuator. Sytem of teeontro by the mutnk manpuator Fgure how the ytem of emautomat poton teeontro. In th ytem pata moton of grp of fvedegree manpuator et by the operator ung the pea ettng deve SD, whh knemat heme onde wth knemat heme of manpuator. anpuator ntaed on the mobe ba. The ontro of grp moton arred out ung t mage on the reen of the teemontor. Th mage reeved ung the teevon amera, whh had two degree of freedom and ntaed on another mobe ba. Fgure ha foowng degnaton: C, C, C the ytem of oordnate SC rgdy onneted, orrepondngy, wth the ba of SD, the ba of manpuator and the ba of teeamera, С, 7 - the ytem of oordnate rgdy onneted, orrepondngy, wth the frt nk of SD, the ba of SD hande, the SD hande, the frt nk of manpuator, the ba of grp, the grp of manpuator and the body of teeamera ; r с and r р - the poton vetor of the ba of manpuator grp n С and of the ba of SD hande n С ; с and р - the poton vetor of the ba of manpuator grp n С and of the ba of SD hande n С ;, - ange of rotaton of the ba of the manpuator and ba of the teeamera;, - the generazed oordnate of orrepondng degree of freedom of SD, manpuator and teeamera;, and, - the ength of orrepondng SD nk and manpuator nk whh away e n one pane. It houd be noted that orentaton of oordnate axe of the ettng deve dffer from orentaton of oordnate axe of the manpuator, the teevon amera and the ba of the ettng deve. It aued by a hoe of the onrete eupment, whoe parameter are determned by the produer. The pane of the reen of the montor fxed n SC С. The moton of the SD hande and the moton of the mage of the manpuator grp oberved on the montor reen are pereved by the operator a the moton n SC С.e. С and С 7 onde for the operator. The propoed ytem of poton teeontro by the manpuator ee Fg. an have two regme []: the regme of tabzaton and the regme of trakng. In frt regme the manpuator fxed n the pae and the operator ha

3 Faretov Vadmr and aturn exey / roeda Engneerng the pobty to hange SD onfguraton for more omfortabe exeutng of ubeuent operaton. In the ame regme the operator an hange an orentaton of teeamera. t wthng moment from the regme of tabzaton to the regme of trakng the ettng gna for a drve of manpuator are formed. Thee gna provde the oordnaton of t poton wth the SD orentaton and take nto aount the urrent orentaton of the teeamera. Subeuenty the manpuator repeat any moton formed by SD n the regme of trakng. Fg.. The ytem of poton teeontro. For the reazaton of the propoed method of teeontro by manpuator the agorthm of work of the omputng ytem wa deveoped. Th agorthm provde the formaton of ettng gna for drve of a degree of freedom of manpuator.. gorthm of teeontro ytem For derbng th agorthm the foowng degnaton are ntrodued: T, T, T T X Y Z - orrepondngy, the unform tranformaton matre eementary turnng about axe of oordnate x, y, z to the ange and tranformaton; T - the matrx of ompex tranformaton ontng of evera eementary turnng and tranformaton. The mentoned matrx onvert ome vetor agned n the rotated oordnate ytem С nto the

4 78 Faretov Vadmr and aturn exey / roeda Engneerng 7 77 vetor agned n the fxed oordnate ytem С [-]. Stage. On th tage the ange of rotaton of manpuator nk the generazed oordnate of the manpuator are meaured ung the but-n enor. The orrepondng vaue of ne and one of thee ange are auated further. They are ued for defnton of nta vaue of oordnate of a vetor r p. generazed oordnate are ountng ounterokwe n a potve dreton from t nta poton. Eement of a vetor r p n SC С are determned ung the euaton: x,, y,, z, where с,, с,,, are, n сo, n, сo, orrepondngy. Thee auaton are arred out one. Further the tranformaton matrx onnetng SC С and С defned. For reevng th matrx t neeary to arry out ontenty rotaton on ange / about axe of z p and х p. It ao neeary to onder hft of SC С aong nk. a reut th matrx an be repreented n the form: 9 9 X Z. Stage. Numera vaue of eement of the vetor p n the SC С p are determned on th tage aordng to known vaue of eement of vetor r p.,, r Z,,,. Stage. On th tage the tranformaton matrx, whh onnet С and С, found. The onneton between С and С or between С 7 and С depend ony on the urrent orentaton of teeamera and 7 =. the manpuator and the amera are ntaed on the mobe bae, t neeary to onder mutua orentaton of ytem of oordnate С and C n genera goba ytem of oordnate. X Z Z. Stage. The nvere tak of knemat IT of the manpuator oved. The numera vaue of eement of the vetor C n С.e. new poton of manpuator grp are determned at urrent tme. The oordnate an be auated ung the euaton / y x artg.

5 Faretov Vadmr and aturn exey / roeda Engneerng Ung vetor C eement the vaue of vetor r C C Z eement are auated. The numera vaue of the generazed oordnate of manpuator tranferred degree of freedom 7, 8 are determned on the ba of the reeved vaue of eement of a vetor r. Thee oordnate are the ettng gna for drve of thee degree of freedom. It neeary to note, that a vetor r wth ength and nk, of the manpuator form a trange ee Fg.. Vaue auated by euaton: x y, where x, y, z - oordnate of a vetor r. z The area of th trange determned ung the euaton: S / h / h p p p p, where p. - haf of trange permeter, h,h - t heght. Vaue of h, h are determned from thee euaton: h p p p p /, h p p p p /. On the other hand from Fg. t evdenty: arn h / arn p p p p / 8. The oordnate 7 ee Fg. an be auated ung the euaton: h n, h n 8. Further t pobe to determne 7 h z 9 9 arn arn 9 arn p p p p z arn.7 z 8 h 7 h r x Fg.. The heme for deon IT of manpuator. The ontrutve mtaton n degree of freedom of manpuator exude an opportunty of ourrene of ambguty at auaton of nvere trgonometr funton when IT ove. For th purpoe mtng vaue were aepted eua /. Stage. On th tage the formaton of gna whh ontro orentaton of manpuator grp began. For reazaton of th regme the tranformaton from SC С to SC С arryng out ung the matrx,.e. the urrent orentaton of SD hande n SC derbed. For obtanng the matrx the ytem of oordnate С mut

6 77 Faretov Vadmr and aturn exey / roeda Engneerng 7 77 be oneutvey turned at ange, about to orrepondng axe y and х :. 8 X Y Orentaton of manpuator grp derbed by a matrx. The urrent orentaton of the mage of manpuator grp on the reen of teemontor mut onde wth the urrent orentaton of SD hande. reut other hand the matrx an be repreented n the form:. On the Y Z In reut a a eement of a matrx orentng degree of freedom of manpuator: 9 aro a are auated t pobe to determne a generazed oordnate of, aro a, where a, are numera vaue of orrepondng eement of the matrx. In former agorthm the ambguty appear when nvere trgonometr funton are auated. For t emnaton t neeary to mt vaue of generazed oordnate n a range, ]. The generazed oordnate, whh are auated at tage and, are the ettng gna for drve of a degree of freedom of manpuator.. Smuaton and experment reut For hekng effeny of the propoed agorthm of emautomat ontro the muaton of ytem work wa arred out. It wa aumed that. m;. m;. m;. m;. m;. m; oordnate,,,, have range of hange [ /, / ] ; oordnate,,7,9, - a range [, / ]. The aw of varaton of generazed oordnate of SD n the tme have form: / n. 7t, /8 n.t.9, /8 n.7t.8, / n.t.9, / n. t. On Fg. - the reut of the muaton of ytem work wth the turned teeamera when and / are hown. From Fg. t evdent that oordnate of vetor of r p = х, у, z, and r с = х, у, z, don't onde beaue of the manpuator and the ettng deve have dfferent phya ze and orentaton. From Fg. t evdent that the generazed oordnate of SD and manpuator don't onde too. But thu the manpuator ompetey repeat a moton of the ettng deve takng nto aount orentaton of teevon amera. It houd be noted that before wthng on the mode of trakng t neeary to oordnate an nta onfguraton of the manpuator on the reen of the montor and the SD onfguraton. teeamera turned, n th ae the manpuator mut be turned n the ont at ame ange / ee Fg.. Further the generazed oordnate of manpuator repeat the aw of SD moton takng nto aount an nta mmath and orentaton of teeamera. For better hek of effeny of the offered agorthm t derabe to arry out mathemata modeng of work of ytem wth ue of the data reeved from rea phya obet. an expermenta patform we ue the fourwhee mobe tranport robot. The pefed robot eupped wth the enor of an ange of rotaton meaurng an ange of rotaton of a patform n goba ytem of oordnate. On uh mobe ba the manpuator and a

7 Faretov Vadmr and aturn exey / roeda Engneerng teevon amera may be ntaed. Fgure how reut of thee experment. Fg.. Coordnate of vetor r р and r с when,. / Fg.. Generazed oordnate,, and, 7, 8 when,. / Fg.. Coordnate of vetor r р and r с when and hanged. From Fg. t vbe that the hangng of an ange of rotaton of the mobe robot ead to hange of oordnate of a vetor r с = х, у, z,. t uh orentaton of a teevon amera the oordnate z ddn't hange

8 77 Faretov Vadmr and aturn exey / roeda Engneerng 7 77 onded wth z, but oordnate х, у hanged. Durng experment the manpuator ompetey repeat a moton of the ettng deve takng nto aount orentaton of teevon amera and mobe ba. Conuon The ytem of emautomat poton teeontro by the mutnk manpuator ntaed on the mobe ba propoed. Th ytem an be apped for the robot ompexe ntended for remote work n hard-to-reah and dangerou for the peron pae. The propoed method of emautomat teeontro by the mutnk manpuator aow to onder automatay pata orentaton of an opta ax of a teeamera durng exeuton by th manpuator of varou tehnooga operaton. In th ae the pyhooga oad on operator redued beaue operator doen t need to ontanty onder the urrent orentaton of teeamera, manpuator and SD. The operator away ha a pobty to eet the onvenent orentaton of teeamera and poton of SD hande. reut the ytem of teeontro aow to mprove operatona haratert and to expand funtonaty of a mobe robot ompex. It provde opportunty to reeve ontnuou vua nformaton from workng zone n evera vew, to nreae effeny of ue and erve fe of the mobe robot at t ue n zone of hgh rk. eut of the exeuted mathemata modeng ompetey onfrmed workng apaty and hgh effeny of the offered approah to reaton of the emautomat ytem of teeontro by the mutnk manpuator. Engneerng reazaton of propoed teeontro ytem doen t aue prnpe dffute beaue n th ae t neeary to exeute ome addtona mathemata auaton ony. knowedgement The paper upported by uan ntry of Eduaton and Sene greement... and uan Foundaton of Ba eearh Grant -8-. eferene [] Changhwan C., Yongh S., Seungho J., Seungho. Tee-Operated Fue Handng ahne anpuaton obot for the Nuear ower ant. ro. CD-O of the th an Contro Conf. Ba, Indonea,, pp [] ndreev V.., ryanhnkov V.E. Operaton Envronment of obe obot wth Supervon Contro, nna of D for & roeedng of the nd Internatona D Sympoum, Voume, No., Venna, utra,, pp. -. [] D. Hwang, Teeoperaton performane wth a knematay redundant ave robot, h.d. Dertaton, Unverty of Wahngton, Department of Eetra Engneerng. [] Cetn L., Baer O., ekn O., Uyar E. Von Baed Contro gorthm for a obe anpuator nna of D for & roeedng of the nd Internatona D Sympoum, Voume, No., Venna, utra,, pp. 9-. [] Lee D., Spong.W. ave batera ontro of teeoperator under ontant tme-deay, ro. IFC Word Congre. rague, Czeh ep., Fe 9.pdf CD-O,, pp.-. [] Tara., a I., Tara N., opentu-vadeu F. emote robot ontro Va Internet Ung ugmented eaty, ro. of the 8th D Int. Symp. Integent anufaturng & utomaton, Zadar, Croata, 7, рр [7] Vadmr Faretov, exey aturn. ethod of Semautomat Combned Contro by anpuator Ung obe Teeamera. ro. of th Internatona Conferene on Contro, utomaton and Sytem ICCS. INTEX, Gyeongg-do, orea,, pp. 9-. [8] Tomaz ok and Trygve Thomeen. Cogntve Human-ahne Interfae pped n emote Support for Indutra obot Sytem. Internatona Journa of dvaned obot Sytem, Vo.,,. рр. -. [9] Sohro Suzuk, Satoh Haegawa and aayuk Okugawa. emote ontro ytem of dater repone robot wth pave ub-rawer onderng fang down avodane. OBOECH Journa, Vo.,,, рр. -. [] Faretov Vadmr, aturn exey. ethod of Semautomat oton Contro by anpuator Ung Teeamera Whh Change It Orentaton. dvaned atera eearh, Vo. 77,, pp [] ngee, J. Fundamenta of obot ehana Sytem: Theory, ethod, and gorthm, rd Edton, SprngerVerag, ISBN-: 8797, New York,. [] Crag, JJ. Introduton to obot ehan and Contro, rd ed., earon Eduaton, In.,. [] urfe, T. obot and automaton handbook, CC pre.,.

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