###### Abstract
Moreover, they enable the use of more dexterity manipulators, e.g., anthropomorphic or redundant ones--without increasing the control problems. Time delay in the case of intervention robots is not a big problem, because in well-designed remote control and teleoperation systems, the delays do not exceed 0.1 s.  
Proper design of manipulators controlled in this way requires knowledge of their dynamic and control signal in the form of velocity and acceleration of hand movement. Research related to the broadly understood dynamics of manipulator operation and their control is currently the subject of interest for many scientists [1; 2; 3; 4; 5]. Particular attention has been given to anthropomorphic manipulators [6; 7; 8; 9; 10] and redundant manipulators [11; 12; 13] because these constructions have a very high potential for use in areas requiring the implementation of unique movements changing over time and subject to human decisions and control. The conducted research concerns their application in space missions [14; 15; 16; 17], underwater [4; 18], surgery [10; 19; 20], telerobotic in medicine [21] and rehabilitation [22; 23; 24; 25; 26; 27; 28; 29; 30; 31; 32]. Many works also concern research on the cooperation of such manipulators and factors that have a decisive impact on their effectiveness [1; 33; 34; 35; 36; 37; 38]. To ensure the efficiency of such tasks, various control systems are used by intervention manipulators, which are controlled by people. The simplest systems use various types of joysticks and game-pads that allow you to control the movements of individual parts of the manipulator [39; 40; 41]. However, such solutions are not very intuitive and require long-term training in order to acquire appropriate habits and reflexes [42; 43; 44; 45; 46]. In order to eliminate these drawbacks and provide more intuitive control, systems using spherical motion generation controllers [47; 48; 49; 50; 51], master-slave tracking control systems [52; 53; 54; 55; 56], feedback force [57; 58; 59; 60; 61; 62; 63; 64; 65; 66; 67], adaptive control systems [68; 69; 70; 71], and systems based on neutron networks and elements of fuzzy logic [71; 72; 73; 74] can be used. Previous research mainly concerns the obtained work dynamics [5; 17; 75], the accuracy of the effector tracking [4; 33; 53], errors in the obtained effector trajectory [5; 35; 36], effector vibrations [75], limitations of the power demand of drive systems with the use of various methods and ways of regulating the examined parameters [75; 76; 77], and the stability and transparency of systems [64; 78; 64]. However, there is no information about the actual values of the inputs that should be  
Figure 1: Idea of using master-slave system in intervention operation: 1—removed objects, 2—picked object, 3—manipulator; 4—cameras; 5—displays; 6—hand; 7—human arm. introduced into the control system to perform tasks by rescue or casting manipulators. These manipulators are characterized by large ranges, lifting capacities, and high inertia forces during operation. The most common intuitive control is to track the location of the characteristic points of the shoulder, elbow, and wrist [52; 53], or the hand itself [10; 54; 79]. In the first case, all parts of the manipulator repeat hand movements, while in the second, only the effector is given the movement parameters, and the remaining parts of the manipulator adjust their position on the basis of established algorithms. This method is also used to control redundant manipulators [8; 9; 80]. Depending on the size of the controlled manipulator and its work area and the range of used hand movement, the measured displacements may be multiplied or reduced in order to ensure the intuitiveness of the control room and high work efficiency [81; 82]. The control signals can also be modified in order to increase the accuracy of the manipulator's movement or to limit the dynamic loads [11; 12]. To ensure the high efficiency of the manipulators, it is necessary to provide them with the highest possible speed of movement.