MANIPULATOR CONTROL METHOD Russian patent published in 2021 - IPC B25J9/00 B25J5/00 G01C21/00 G05B13/00 

FIELD: robotics.

SUBSTANCE: invention relates to robotics, in particular to control systems for manipulators located on mobile robots (MR), and can be used for remote control of mobile robots to perform work in a semi-automatic mode in extreme conditions. The proposed method provides a comfortable, fast and accurate control of the manipulator attached to the MR, in the event of complex work, by the operator in a semi-automatic mode on rough, including uneven, terrain, when the operator receives information about the objects of work and the working space of the manipulator from the vision system (VS), which is installed on another MR, located in any arbitrary place, convenient for inspecting the working space of the manipulator with the objects of work. When calculating control signals, the real positions and orientations of the two MRs on an uneven surface are taken into account, which are determined by their navigation systems equipped with gyroscopes. This does not require the use of a calibration tool and test movements, because all manipulator movements are displayed on the monitor screen and can be quickly adjusted by the operator independently.

EFFECT: automatic recalculation of signals for controlling the degrees of mobility of a manipulator installed on one MR, which are formed by an operator using a master device (MD) based on video information transmitted to him by an VS installed on another MR located anywhere in the work area.

1 cl, 1 dwg