Telecontrol of a Manipulator Using Kinematic Similarity

The problems of organizing the movement of a stepper drive of a three-coordinate manipulator in the remote control mode using incremental encoders integrated into the motion controller mechanism with a kinematic structure similar to that used in the actuator are examined. Control laws with different approaches to organizing the movement are considered. A single simple control law is given, the same for each of the coordinates, allowing for organizing a three-coordinate remote control without using feedback. The advantages and disadvantages of this control method are considered. Program codes for use with Arduino Uno processors are given.