ROBOT CONTROL METHOD USING VIRTUAL REALITY CONTROLLERS AND HELMET Russian patent published in 2020 - IPC B25J9/16 G06F3/00 

FIELD: physics.

SUBSTANCE: invention relates to robot control and can be used for anthropomorphic robots, manipulator robots, medical, military, as well as space robots. Method of control is carried out using controllers and a helmet of virtual reality. Helmet and controller coordinates system is calibrated relative to user's body, scale factor of kinematics of robot is calculated relative to kinematics of person, current coordinates of Euler angles of controllers and helmet of virtual reality are received and transmitted from server to client. Obtained coordinates of the controllers and the helmet are converted into coordinates of the robot using the previously calculated scaling coefficient. Angles of the robot joints are calculated from the converted coordinates; the obtained Euler angles of the controllers and the helmet are converted to angles of the robot and data are transmitted to the actuators of the robot over a wired or wireless communication channel.

EFFECT: result is increased efficiency of operator with robot at remote distance in real time mode, eliminated effect of mismatch between user and robot and increased accuracy and speed of control.

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