Mathematical model, state vector calculation algorithm and realization of multi-axes control stick for intrachamber manipulators

The purpose of the study is a development of a mathematical model and an algorithm for the calculation of the state vector of a multi-axes delta-type control joystick for moving special purposes arm manipulators by a human operator in the loop. Research methods. The paper considers the existing methods of remote control of intrachambers special purpose arm manipulators with a human operator in the control loop, identifies the advantages and disadvantages of existing solutions. The task of synthesizing the optimal control stick to ensure driving of the manipulator in 3D-space was set. Today, nuclear industry enterprises widely use hermetic chambers in which copy-type electromechanical manipulators are installed. The manipulation system includes an arm manipulator installed directly in a sealed chamber, and its kinematically similar control arm. The operator manually moves the control arm, the trajectory of which is repeated inside the chamber by the arm manipulator. Taking into account moral and physical obsolescence, the introduction of modern approaches to the human-machine interaction is required. The paper proposes a mathematical model for calculation the state vector (linear and angular coordinates) of a delta-type control stick from measured information about the relative angular position in its rotational kinematic pairs. Results of the study. An algorithm for calculating the coordinates of the handle of the control stick is synthesized based on a priori information about the relative position of the elements in the delta-mechanism. Taking into account the additional discrete and proportional controls located on the handle of the control stick, the proposed algorithm and its practical implementation make it possible to introduce effective manipulator control modes. Conclusion. The main results of the work include a mathematical model and an algorithm for generating the state vector of the delta-type control stick, which allows the operator to form the linear and angular velocity vectors of the arm manipulator and its gripper movement by one hand. The technical implementation of the control stick and algorithm, as well as its test operation with a dual arm manipulator system, showed the high efficiency of the proposed solutions.