title: Ð Ð°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° ÑÐ¸ÑÑÐµÐ¼Ñ Ð´Ð¸ÑÑÐ°Ð½ÑÐ¸Ð¾Ð½Ð½Ð¾Ð³Ð¾ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾ÑÐ¾Ð¼ Ð½Ð° Ð¾ÑÐ½Ð¾Ð²Ðµ Ð¸Ð·Ð¼ÐµÐ½ÐµÐ½Ð¸Ñ Ð¿Ð¾Ð»Ð¾Ð¶ÐµÐ½Ð¸Ñ ÑÑÐºÐ¸ Ð² Ð¿ÑÐ¾ÑÑÑÐ°Ð½ÑÑÐ²Ðµ
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð±Ð°ÐºÐ°Ð»Ð°Ð²ÑÐ°
titleType: Subtitle
title: Development of a remote manipulator control system based on changing the position of the hand in space
Creators: name: ÐÐ¾Ð½ÐµÐ², ÐÐ³Ð¾ÑÑ
Publisher: name: Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³ÑÐºÐ¸Ð¹ Ð¿Ð¾Ð»Ð¸ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ½Ð¸Ð²ÐµÑÑÐ¸ÑÐµÑ ÐÐµÑÑÐ° ÐÐµÐ»Ð¸ÐºÐ¾Ð³Ð¾
Year: 2024
Subjects: Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾Ñ
ÐºÐ¾Ð¿Ð¸ÑÑÑÑÐ¸Ð¹ Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾Ñ
Ð¾Ð±ÑÐ°ÑÐ½Ð°Ñ Ð·Ð°Ð´Ð°ÑÐ° Ð³ÐµÐ¾Ð¼ÐµÑÑÐ¸ÑÐµÑÐºÐ¾Ð³Ð¾ Ð°Ð½Ð°Ð»Ð¸Ð·Ð°
Ð¸Ð½ÐµÑÑÐ¸Ð°Ð»ÑÐ½Ð°Ñ Ð½Ð°Ð²Ð¸Ð³Ð°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ¸ÑÑÐµÐ¼Ð°
MEMS-Ð´Ð°ÑÑÐ¸ÐºÐ¸
Ð´Ð¸ÑÑÐ°Ð½ÑÐ¸Ð¾Ð½Ð½Ð¾Ðµ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ðµ
manipulator
copying manipulator
inverse problem of geometric analysis
inertial measurement unit
MEMS sensors
remote control

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description: The object of this research work is a system consisting of an executive mechanism (MeArm manipulator from MeArm Limited) and a transmitting device (controller). The purpose of the work is to create a system for remote transmission of information between the control and actuating devices to change the position of the latter in such a way that each change in the position of the control device will correspond to a change in the position of the executive. To create the above-described system, a study of the kinematics of the manipulator used was carried out, the results of which were the solution of the inverse problem of geometric analysis. The remote transmission of information about the position of the hand is carried out using two microcontrollers of the "system on a chip" type connected by Wi-Fi technology. In the course of the work, a system for reading the position of the hand was developed based on two inertial measurement units, each of which includes a three-axis accelerometer and a three-axis gyroscope. The completed research performed allows us to work out the principles and technologies that are necessary to create copying manipulators designed to ensure the most accurate reproduction by the actuator of all movements of the master device during remote work. A further development of this work may be the introduction of a computer vision system for reading the position of the hand, as well as the development of its own or replacement of the manipulator used with a model with a large number of degrees of mobility.