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This article describes the problems of anthropomorphic manipulators (AM) master-slave teleoperation control. The aim of the work is to study the problems of the teleoperation control accuracy. The scheme of copying control system is considered in the article. The most characteristic problems for this control method are allocated. The discretization and restoring of the signal examples describing the rotation angle dependence of the manipulator joint on time are made. Real-time smoothing methods based on the calculation of the speed and acceleration of the signal change, as well as smoothing by piecewise linear interpolation with a delay of one discrete time tick are applied to the restored signal. For the restored signals with smoothing and without smoothing, the root mean square of deviation from the initial signal is estimated. Keywords—master-slave teleoperation control, anthropomorphic manipulator, exoskeleton, encoder, signal discretization, signal interpolation

The Study of the Problems of the Master-Slave Teleoperation Control Anthropomorphic Manipulator