Solution of the dynamics inverse problem with the copying control of an anthropomorphic manipulator based on the predictive estimate of the operator's hand movement using the updated Brown method

摘要

The aim of the article is the implementation of a dynamic copying control by an anthropomorphic manipulator. Dynamic control would create greater accuracy of movement and less wear on parts. A feature of the copy control is the formation of the motion law in the process of the manipulator movement, which creates difficulties for the implementation of copy control. To solve the problem, it is proposed to exchange defining the motion law of the operator's hand by its predictive estimate obtained using the updated Brown method. The results of simulation carried out on a large number of test movements show the effectiveness of the proposed solutions.