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Robotics and Technical Cybernetics最新文献

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Creation of a 3D kinematic model of the Delta manipulator using computer-aided design in NX 在NX中利用计算机辅助设计建立Delta机械手的三维运动学模型
Robotics and Technical Cybernetics Pub Date : 2023-03-01 DOI: 10.31776/rtcj.11103
A. Voloshkin, L. Rybak, V. Skitova, A. Nozdracheva, E. Gaponenko
{"title":"Creation of a 3D kinematic model of the Delta manipulator using computer-aided design in NX","authors":"A. Voloshkin, L. Rybak, V. Skitova, A. Nozdracheva, E. Gaponenko","doi":"10.31776/rtcj.11103","DOIUrl":"https://doi.org/10.31776/rtcj.11103","url":null,"abstract":"The article discusses the design of the Delta robot, which is part of a multirobotic system for aliquoting biological fluid. The purpose of the article is to obtain a dynamic model of the Delta manipulator using 3D modeling, which will allow studying the kinematic and dynamic characteristics of the manipulator for the specified parameters. A computer-aided design (CAD) system is used for modeling. The article presents an analytical calculation of the kinematic and dynamic parameters of the Delta manipulator in the RS structure, a solution to the inverse problem is presented. The process of creating a digital calculation model in the NX Nasrtan system is described. The preliminary calculation of kinematic and dynamic parameters made it possible to set parameters in the NX Nastran system to ensure the rotation of the drive shafts of the engines in accordance with the specified trajectory of the output link. For all parts of the manipulator, the center of mass is determined and the material is assigned. Motion simulation was carried out and dependences of changes in speeds, accelerations and movements of the manipulator links were obtained to implement the required trajectory of the mobile platform. This calculation allows you to build the trajectory of the output link with a given speed, setting the rotation of the drive links of the calculated model taking into account the forces of inertia.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"210 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133759852","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Experimental study and numerical simulation of hydrodynamics for fish-like underwater vehicle 鱼状水下航行器流体力学实验研究与数值模拟
Robotics and Technical Cybernetics Pub Date : 2023-03-01 DOI: 10.31776/rtcj.11105
N. Tschur, Iliya Mitin, R. Korotaev, V. Mironov, V. Kazantsev
{"title":"Experimental study and numerical simulation of hydrodynamics for fish-like underwater vehicle","authors":"N. Tschur, Iliya Mitin, R. Korotaev, V. Mironov, V. Kazantsev","doi":"10.31776/rtcj.11105","DOIUrl":"https://doi.org/10.31776/rtcj.11105","url":null,"abstract":"This article presents the results of experimental and computational modeling of the movement of a fish-like underwater robot. The experimental 3D model is constructed from photographs of Pacific bluefin tuna. This model allows us to study biomorphic swimming with various motion parameters, namely: the amplitude and frequency of strokes is set by the servo control signal, the angle between the tail fin and the elastic plate is set by the number and stiffness of springs in the hinge. The calculation method involves the joint solution of the equations of dynamics of the robot and the equations of hydrodynamics of the fluid flowing around it. For this task, an original mesh deformation algorithm was developed that allows hydrodynamic calculations to be performed near the tail of the model performing transverse oscillations. The use of deformable mesh technology allows you to reproduce the shape of the tail vibrations as accurately as possible. In addition, the calculation scheme has the property of conservativeness, which makes it possible to obtain high quality calculations, confirmed by comparison with experimental data.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132025148","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
The impact of symmetry violations on determining optimal control trajectories for complex robotic systems 对称违反对复杂机器人系统最优控制轨迹确定的影响
Robotics and Technical Cybernetics Pub Date : 2023-03-01 DOI: 10.31776/rtcj.11108
A. Kurnosov
{"title":"The impact of symmetry violations on determining optimal control trajectories for complex robotic systems","authors":"A. Kurnosov","doi":"10.31776/rtcj.11108","DOIUrl":"https://doi.org/10.31776/rtcj.11108","url":null,"abstract":"Complex robotic systems, their properties, features and interactions are considered, the article offers the definition of a complex system on the basis of 5 properties: openness, non-morphic variability of three types (structural, spatial and information), Double-code, event aggregation and violation of physical symmetries. The influence of violations of physical symmetries on the determination of optimal control trajectories is reflected in the paradigm approach to the study of complex robotic systems that are not formalized as mathematical objects. The basic concepts, postulates and hypotheses are formulated. Ideal designs of variability of complex systems; energy causal sets; energies; events, causes, effects and evolution; spacetime, quanta and vacuum; interaction of individuals; operators of physical interactions, aggregated events, text and attachments of words. Three basic models for the study of complex systems - the model of physical interactions, the neurolinguistic model and the model of control at incomplete compatibility are proposed and briefly described. The structure of the kernel of the platform of physical simulation modeling for the researches of complex systems is resulted. Three types of space-time quantum modeling - minimal, semantic and evolutionary - are described. The article provides an illustration of results of application of the proposed approach to the study of actions of complex systems. It is noted that the resulting mathematical structure exhibits fractal properties. Typical trajectories of evolution - «homeostat»; «attenuation of actions»; «invariant»; «accident»; «window of possibilities» have been allocated. The article provides a number of principles of research of complex methodological and methodical systems. Recommendations were made on the scope of the proposed approach.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131560370","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Luna-25. Robotic arm Luna-25。机械手臂
Robotics and Technical Cybernetics Pub Date : 2023-03-01 DOI: 10.31776/rtcj.11109
V. Yakovlev, Maksim Litvak, T. Kozlova, Igor Dokuchaev, Radij Zverev
{"title":"Luna-25. Robotic arm","authors":"V. Yakovlev, Maksim Litvak, T. Kozlova, Igor Dokuchaev, Radij Zverev","doi":"10.31776/rtcj.11109","DOIUrl":"https://doi.org/10.31776/rtcj.11109","url":null,"abstract":"The lunar manipulator complex developed for the Luna-25 landing mission as part of the instrument group. During the ground tests, first, the kinematics of the manipulator's movements, as it will implemented on the Moon, and the interaction of various instruments worked out: lunar manipulator complex (LMC), a laser ionization mass spectrometer (LASMA-LR), a stationary television system (STS-L) and an IR spectrometer and stereo camera (LIS-TV-RPM). The joint work of this group of devices should ensure accurate guidance of the manipulator to the selected area of the Moon's surface with subsequent sampling, safe transportation of the soil taken into the receiving hole of the mass spectrometer and guidance of the IR spectrometer to various objects on the Moon's surface. The possibilities of the LMC to dig and take soil samples in a vertical chamber using a lunar regolith simulator frozen to cryogenic temperatures in a vacuum with the addition of water ice also investigated.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131307354","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
A possible approach to the creation of self-learning control systems for autonomous robots 一种为自主机器人创建自我学习控制系统的可能方法
Robotics and Technical Cybernetics Pub Date : 2023-03-01 DOI: 10.31776/rtcj.11106
I. Ermolov, S. Khripunov
{"title":"A possible approach to the creation of self-learning control systems for autonomous robots","authors":"I. Ermolov, S. Khripunov","doi":"10.31776/rtcj.11106","DOIUrl":"https://doi.org/10.31776/rtcj.11106","url":null,"abstract":"Unmanned systems often function in new, non-predetermined environment. This demands flexible and simultaneously stable function of these systems. This can be implemented by their adaptation and, as a final goal, self-learning or self-organization in control systems. Autonomous functioning in extreme environment requires self-learning drastically. Such environment can be hostile towards unmanned systems, it may contain sophisticated communication conditions. All these are deteriorated by poor on-board control algorithms. In some of such cases unmanned systems may become inefficient or, even more, useless in some cases. This brings to front necessity to create adaptive self-learning control systems for robots. These should be capable to generate efficient, or even optimal decisions in extreme environment. This paper presents on of possible approaches to create self-learning control systems based on so called decision along analogues.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125465481","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Features of development of laser location systems for underwater robotic systems 水下机器人激光定位系统的发展特点
Robotics and Technical Cybernetics Pub Date : 2022-12-01 DOI: 10.31776/rtcj.10408
Valeriy I. Alekseev, D. Goryachkin, V. Kuprenyuk, E. Sosnov
{"title":"Features of development of laser location systems for underwater robotic systems","authors":"Valeriy I. Alekseev, D. Goryachkin, V. Kuprenyuk, E. Sosnov","doi":"10.31776/rtcj.10408","DOIUrl":"https://doi.org/10.31776/rtcj.10408","url":null,"abstract":"The main problems of underwater laser ranging, principles of constructing laser location systems (LLS), features of the implementation of LLS of underwater robots are considered. The choice of parameters and components of LLS for underwater robotic systems is substantiated, taking into account the requirements of work in conditions of limited visibility.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132728762","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Investigation of the characteristics of the manipulators collision prevention system 机械手防撞系统特性研究
Robotics and Technical Cybernetics Pub Date : 2022-12-01 DOI: 10.31776/rtcj.10407
Mihail Fikov, V. Varlashin
{"title":"Investigation of the characteristics of the manipulators collision prevention system","authors":"Mihail Fikov, V. Varlashin","doi":"10.31776/rtcj.10407","DOIUrl":"https://doi.org/10.31776/rtcj.10407","url":null,"abstract":"The paper considers the problem of detecting and preventing collisions of manipulators with each other and with segments of the robot itself in a virtual environment. The proposed solution is to use simulator, which can simulate the physical laws of the real world with defined level of approximation, as well as methods and algorithms for collision detection in the virtual environment. Methods of representation of objects in the environment, due to which it is possible to detect collisions quickly, are considered. The collision control subsystem for the movement of two manipulators, controlled by a human operator, is simulated in the Unity environment, and its reaction speed is investigated.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129535962","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Use of augmented reality for remote control of mobile robots in the presence of time delays in data transmission channels 在数据传输通道存在时间延迟的情况下，使用增强现实技术对移动机器人进行远程控制
Robotics and Technical Cybernetics Pub Date : 2022-12-01 DOI: 10.31776/rtcj.10405
Dmitrii Popov
{"title":"Use of augmented reality for remote control of mobile robots in the presence of time delays in data transmission channels","authors":"Dmitrii Popov","doi":"10.31776/rtcj.10405","DOIUrl":"https://doi.org/10.31776/rtcj.10405","url":null,"abstract":"The paper is devoted to the teleoperation of ground mobile robots in extreme conditions. The presence of time delays in information transmission channels has a significant impact on the efficiency of control. The total delay values can range from hundreds of milliseconds to units of seconds. Sufficiently large values are the reasons for the loss of stability of control systems. To reduce the negative impact of delays, it is proposed to use a method of supporting the operator, which consists in superimposing information about the robot's position on the image received from the video camera and displayed on the control panel at the moment when it receives the generated commands. The position calculation uses the fact that telemetry and command transmission delays are generally much less than video transmission delays. The proposed method is simple, requires a minimum amount of computing resources and can be implemented as a part of low-cost robotic systems. The presented simulation results demonstrate the effectiveness of the method.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123874015","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Design features of the robotic complex for in-line pipeline diagnostics 在线管道诊断机器人综合体的设计特点
Robotics and Technical Cybernetics Pub Date : 2022-12-01 DOI: 10.31776/rtcj.10410
V. Volkov, V. Varlashin
{"title":"Design features of the robotic complex for in-line pipeline diagnostics","authors":"V. Volkov, V. Varlashin","doi":"10.31776/rtcj.10410","DOIUrl":"https://doi.org/10.31776/rtcj.10410","url":null,"abstract":"The article considers the controlled parameters of the state of the pipeline during in-line technical diagnostics. Comparisons of various complexes - in-line inspection devices are given and a comparative table is built on their basis. In the final part, brief conclusions are given on the differences of in-line inspection devices, and a comparison of the considered complexes with an in-pipe robotic diagnostic complex, developed taking into account the analysis of the considered complexes, is made.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"111 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127104027","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Study of the possibility of implementing a remote-controlled robotic system in a closed volume of great length 研究在大长度封闭体积中实现遥控机器人系统的可能性
Robotics and Technical Cybernetics Pub Date : 2022-12-01 DOI: 10.31776/rtcj.10406
A. Kucherenko, S. Toptalov, A. Korotkov
{"title":"Study of the possibility of implementing a remote-controlled robotic system in a closed volume of great length","authors":"A. Kucherenko, S. Toptalov, A. Korotkov","doi":"10.31776/rtcj.10406","DOIUrl":"https://doi.org/10.31776/rtcj.10406","url":null,"abstract":"A technique for evaluating the efficiency of using ultra-wideband pulses (UWB) for signal transmission by digital modems in a closed space is proposed. The studies were carried out for the variant of approximation of the ultra-wideband signal by the Gaussian function. Approximation by a Gaussian monocycle is adopted for the radiated electromagnetic signal. Analytical expressions are given for calculating the width of the spectrum of the signal under study. Taking into account the obtained spectral characteristics, the calculation of the signal energy as a whole and in the given frequency bands was carried out. A comparative quantitative assessment of the energy efficiency of an ultra-wideband signal and a short radio pulse has been carried out.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121686221","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
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