Method of semiautomatic combined control by manipulator using mobile telecamera

This paper describes the method of semiautomatic combined telecontrol by multi-link manipulator using special setting device (SD). For the survey of working space the mobile television camera is used. Optical axis of this camera can change spatial orientation during performance of operations. The algorithm of work of computing system which forms the setting signals for drives of all degrees of freedom of manipulators is represented and researched. The results of executed experiments and mathematical simulation of the systems work confirm effectiveness of this method.