Method of Planning the Trajectory of an Anthropomorphic Manipulator With a Copying Control With Haptic Gloves

Abstract

The article presents the development of a method for planning the trajectory of motion of the joints of an anthropomorphic manipulator in virtual reality with copy control with haptic gloves based on the method of calculating the position of the operator's hands. The article discusses the existing development of haptic gloves, analyzes the scientific publications on this topic, which showed a variety of technical solutions. Two methods for the implementation of haptic gloves are indicated, for which the calculation of the path of movement of the robot arm is performed. The method of planning the trajectory of motion of the joints of the anthropomorphic manipulator with copy control using haptic gloves is based on the Denavit-Hartenberg representation and the developed method and calculating the position of the operator's hands in virtual reality.