Open Access Open Access  Restricted Access Subscription or Fee Access

The Architecture of the Control System for the Mobile Process Robot with Walking Movers


(*) Corresponding author


Authors' affiliations


DOI: https://doi.org/10.15866/ireme.v11i5.11597

Abstract


The paper considers the structure of the multiprocessing information management control system for the drives of the mobile process robot with the orthogonal movers. Software architecture for the onboard computing system has been developed. The unified control modules for the linear actuators of the walking robot and manipulator and basic robot sensory systems have been implemented.
Copyright © 2017 Praise Worthy Prize - All rights reserved.

Keywords


Robot with Orthogonal Movers; Manipulator; Distributed Control System; Sensory Systems; Supervisory Control; Technical Vision

Full Text:

PDF


References


Batanov A.F., Gricinin S.N. Murkin S.V. Robotic systems for use in emergencies. Terms of application and general technical requirements. In: Works of symposium on robotics within the 6th specialized exhibition «Robotics», 4-6 november, pp. 37-66. (2008) (In Russia)

Angeles J. Fundamentals of Robotic Mechanical Systems: Theory, Methods, and Algorithms. Mechanical engineering series. 4th Edition. Springer International Publishing Switzerland, 546 p.(2014).
http://dx.doi.org/10.1007/b97597

Akbas, A. Intelligent predictive control of a 6-DOF robotic manipulator with reliability based performance improvement, Proceeding of the 6th International Conference on Intelligent Data Engineering and Automated Learning, LNCS, Vol.3578, pp.272-279, Brisbane, Australia, July. (2005) Springer.
http://dx.doi.org/10.1007/11508069_36

Patent 2476372 RF, MPK B66C23/36, B60P3/00. Emergency response vehicle / V.V. Zhoga, V.N. Skakunov, A.V. Eremenko, P.V. Fedchenkov, V.M. Gerasun, I.A. Nesmijanov, V.V. Djashkin-Titov; VSTU. (2013) (In Russia)
http://dx.doi.org/10.1007/978-3-319-07058-2_52

Dynamic Modeling, Stability and Energy Consumption Analysis of a Realistic Six-Legged Walking Robot / Roy S.S., Pratihar D.K. // Robotics and Computer-Integrated Manufacturing. 2013. Т. 29. № 2. С. 400-416.
http://dx.doi.org/10.1016/j.rcim.2012.09.010

V. Zhoga, V. Skakunov, I. Shamanov, A. Gavrilov. Programmable Movement Synthesis for the Mobile Robot with the Orthogonal Walking Drivers // Advances in Mechanical Engineering / ed. by A. Evgrafov. – Switzerland: Springer International Publishing, pp. 135-147. – (Book series: Lecture Notes in Mechanical Engineering). (2016)
http://dx.doi.org/10.1007/978-3-319-29579-4_14

Synthesis of Control Algorithm and Computer Simulation of Robotic Manipulator-Tripod / I.А. Nesmianov, V.V. Zhoga, V.N. Skakunov, S.E.Terekhov, V.A. Egunov, N.S. Vorob'eva, V.V. Dyashkin-Titov, F.А.H. Al'a-Hadzha // Creativity in Intelligent Technologies and Data Science. CIT&DS 2015: First Conference (Volgograd, Russia, September 15-17, 2015): Proceedings / ed. by A. Kravets, M. Shcherbakov, M. Kultsova, O. Shabalina. – [Switzerland]: Springer International Publishing, pp. 392-404. – (Ser. Communications in Computer and Information Science. Vol. 535). (2015)
http://dx.doi.org/10.1007/978-3-319-23766-4

V. Zhoga, A. Gavrilov, V. Gerasun, I. Nesmianov, V. Pavlovsky, V. Skakunov, V. Bogatyrev, D. Golubev,V. Dyashkin-Titov, N. Vorobieva. Walking Mobile Robot with Manipulator-Tripod // Proceedings of Romansy 2014 XX CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators - Series: Mechanisms and Machine Science - Springer International Publishing Switzerland.- Vol. 22, pp. 463-471. (2014) (In Russia)
http://dx.doi.org/10.1007/978-3-319-07058-2_52

Zhoga V.V., Gerasun V. M., Nesmianov I.A., Vorob'eva N.S., Djashkin-TitovV.V. Dynamic synthesis of optimal software movement manipulator – tripod // Problems of mechanical engineering and reliability of cars. Vol. 2. pp. 85–92. (2015) (In Russia)
http://dx.doi.org/10.3103/s1052618815020168

V.P. Andreev, K.B. Kirsanov, A.V. Kostin et al. // Mobile technology robots and simulators: integration software group interaction // The information and measuring and operating systems. Vol. 4. Мoscow, pp. 74 – 79. (2013) (In Russia)
http://dx.doi.org/10.1016/j.proeng.2015.01.368

Sanmartín G. et al. PrimeSense sensors as a low-cost method for motion capture on clinical tests //Spanish Computer Graphics Conference. – The Eurographics Association, pp. 133-136. (2012)
http://dx.doi.org/10.1007/978-3-642-31567-1_27

Konolige K. et. al. Outdoor mapping and navigation using stereo vision //Experimental Robotics. – Springer Berlin Heidelberg, pp. 179-190. (2008)
http://dx.doi.org/10.1007/978-3-540-77457-0_17

Devjaterikov E.A. Traffic control system of the mobile robot with visual odometry / E.A. Devjaterikov, B.B. Mihajlov // Scientific and technical sheets. SPbSTU. Informatics. Telekomunikation. Management. Vol. 5 (181), pp. 103-108. (2013) (In Russia)
http://dx.doi.org/10.1109/mmar.2013.6669935

Bykov S.A. Algorithm analysis of three-dimensional point cloud for processing video / S.A. Bykov, V.V. Zhoga, V.N. Skakunov, V.A. Shurygin In: Extreme robotics: Proceedings of the All-Russian scientific and technical conference, Saint-Petersburg, 25-26 september. SPbSTU. Saint-Petersburg, pp. 194-200. (2012) (In Russia)
http://dx.doi.org/10.17485/ijst/2017/v10i15/108266

Yao J. et al. Path planning for virtual human motion using improved A* star algorithm //Information Technology: New Generations (ITNG), 2010 Seventh International Conference on. – IEEE, pp. 1154-1158. (2010)
http://dx.doi.org/10.1109/itng.2010.53

V. Skakunov, V. Belikov, V. Zhoga, I. Nesmiynov. Processing of Data from the Camera of Structured Light for Algorithms of Image Analysis in Control Systems of Mobile Robots // Advances in Mechanical Engineering / ed. by A. Evgrafov. – Switzerland: Springer International Publishing, pp. 149-158. – (Book series: Lecture Notes in Mechanical Engineering). (2016)
http://dx.doi.org/10.1007/978-3-319-29579-4_15


Refbacks

  • There are currently no refbacks.


Please send any question about this web site to info@praiseworthyprize.com
Copyright © 2005-2024 Praise Worthy Prize