An algorithm for defining the inner geometry of a snakelike manipulator in case of leading link movements along the incremental trajectory

Ivanov, A. A.; Shmakov, Oleg

doi:10.15622/sp.49.10

Cited by 8 publications

(3 citation statements)

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“…Already the first prototypes appear, physically interacting with surrounding objects, which requires the consumption of even greater energy resources. The joint work of robotic ground platforms and multi-copters allows significantly increase the duration of work in the autonomous mission [15][16][17][18].…”

Section: Resultsmentioning

confidence: 99%

Classification of robotic battery service systems for unmanned aerial vehicles

2018

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Abstract.Existing examples of prototypes of ground-based robotic platforms used as a landing site for unmanned aerial vehicles are considered. In some cases, they are equipped with a maintenance mechanism for the power supply module. The main requirements for robotic multi-copter battery maintenance systems depending on operating conditions, required processing speed, operator experience and other parameters are analyzed. The key issues remain questions of the autonomous landing of the unmanned aerial vehicles on the platform and approach to servicing battery. The existing prototypes of service robotic platforms are differed in the complexity of internal mechanisms, speed of service, algorithms of joint work of the platform and unmanned aerial vehicles during the landing and maintenance of the battery. The classification of robotic systems for servicing the power supply of multi-copter batteries criteria is presented using the following: the type of basing, the method of navigation during landing, the shape of the landing pad, the method of restoring the power supply module. The proposed algorithmic model of the operation of battery power maintenance system of the multi-copter on ground-based robotic platform during solving the target agrarian problem is described. Wireless methods of battery recovery are most promising, so further development and prototyping of a wireless charging station for multi-copter batteries will be developed.

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Section: Resultsmentioning

confidence: 99%

Classification of robotic battery service systems for unmanned aerial vehicles

2018

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“…The proposed technological bases for designing modular robots with pairwise coupling mechanisms describe modern hardware and model-algorithmic tools necessary for the development of promising models of modular robots [11,12]. These robots are equipped with systems typical of a fully functional robot, which provides their locomotion, communication, navigation, decentralized power and control [13][14][15][16][17].…”

Section: Related Workmentioning

confidence: 99%

Justification of the technical requirements of a fully functional modular robot

et al. 2017

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Abstract. Modular robots are characterized by limited built-in resources necessary for communication, connection and movement of modules, when performing reconfiguration tasks at rigidly interconnected elements. In developing the technological fundamentals of designing modular robots with pairwise connection mechanisms, we analysed modern hardware and model algorithms typical of a fully functional robot, which provide independent locomotion, communication, navigation, decentralized power and control. A survey of actuators, batteries, sensors, communication means, suitable for modular robotics is presented.

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“…In such tasks, the UAV must be able to manipulate in its environment, including removing obstacles that block movement to the target point. However, at present only ground-based robotic vehicles are equipped with manipulators [2,3].…”

Section: Introductionmentioning

confidence: 99%

Issues of physical interaction of unmanned aircraft manipulators with ground objects

2018

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Abstract. Adding an onboard manipulation system to an unmanned aerial vehicle (UAV) significantly complicates framework, functioning algorithms, and leads to an increase in overall dimensions. The physical interaction of the manipulator with objects influences to unstabilization of UAV, which in turn leads to difficulties in positioning the UAV and reduces the accuracy of gripper motion. In addition, the physical interaction of the manipulator with objects requires increased power resources of UAVs. The article analyzes modern research of UAVs with a manipulator, including flight control problems, avoidance of contact with the earth, surrounding space, as well as manipulations with the captured object. On the basis of the analysis, a list of new problems arising in the physical interaction of UAVs with objects through an embedded manipulator is formulated.

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An algorithm for defining the inner geometry of a snakelike manipulator in case of leading link movements along the incremental trajectory

Cited by 8 publications

References 0 publications

Classification of robotic battery service systems for unmanned aerial vehicles

Classification of robotic battery service systems for unmanned aerial vehicles

Justification of the technical requirements of a fully functional modular robot

Issues of physical interaction of unmanned aircraft manipulators with ground objects

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