Basic Principles of an Exoskeleton Construction for an Anthropomorphic Manipulator Control

Abstract

Anthropomorphic robots are an integral part of the technical support of human activities. Possessing human kinematics, they are able to perform the required manipulations with external objects. At this stage, there is no intelligent control system capable of making decisions about the necessary movements of the anthropomorphic manipulator. This determined the creation of external control systems. In this case, the most rational is the control carried out by an operator through a special copying set up device. In the presented article, the fundamental principles defining a schematic structure of a copying set up device are justified. Providing the anthropomorphic manipulator kinematics similar to the human hand kinematics is possible through the implementation of two additional mobilities. Along with seven traditional degrees of freedom connecting the output links, additional ones should be installed within the anthropomorphic robot framework. The structure of three-movable rotational pairs, providing registration of rotation angles in the shoulder and wrist joints, should be implemented in the form of kinematic connections. The choice of the variant of their construction is determined by the conditions of rational functioning of the anthropomorphic manipulator and the possibilities of the drives placing.