Development of the System of Telecontrol by the Multilink Manipulator Installed on the Mobile Robot

This paper describes the system of semiautomatic position telecontrol by the multilink manipulator installed on the mobile robot. The operator uses a special setting device for control. The telecamera which forms the image on the operator's monitor is installed on other mobile robot. This camera can rotate about two mutually perpendicular axes. The system of telecontrol makes it possible to automatically take into account the spatial orientation of television camera. The working algorithm of the computing system is proposed and examined. This algorithm forms control signals for drives of all degrees of freedom of the manipulator. The results of executed experiments confirm effectiveness of developed system.