Control System of the RobotManipulator with Use of Neural Network Algorithms of Restriction of Work Area of the Gripper

Voynov, I.V.; Kazantsev, A.M.; Morozov, B.A.; Nosikov, M.V.

doi:10.14529/ctcr170404

CTAC&R

2017

DOI: 10.14529/ctcr170404

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Control System of the RobotManipulator with Use of Neural Network Algorithms of Restriction of Work Area of the Gripper

I.V. Voynov¹,

A.M. Kazantsev²,

B.A. Morozov³

et al.

Abstract: ВведениеВ 2015 году филиалом Южно-Уральского государственного университета в г. Миассе по техническому заданию одного из ведущих предприятий атомной промышленности был спроек-тирован и изготовлен робототехнический комплекс МР-48. Его основное назначение -исключе-ние ручных операций и введение автоматизированных и автоматических режимов работы при выполнении технологических операций с материалами в условиях сильных радиационных полей. Манипулятор робототехнического комплекса МР-48 конструктивно представляет соб… Show more

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Approach to Positioning Links of the Manipulator Using Neural Networks

Смирнов

Yakovlev

2019

Mehatronika, avtomatizaciâ, upravlenie

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This paper considers development of positioning systems for manipulator links to solve the forward kinematics problem (FKP) and inverse kinematics problem (IKP). Here we study a robotic manipulator with four degrees of freedom. It should be noted, that one of the relevant research problems of modern modular robotic devices consists in the lack of the universal algorithms, that would ensure kinematics problem recalculations in the cases of reconfigurations of the whole system. Challenges, the researchers are facing with when solving this problem, have to do with geometrical and non-linear equations (trigonometric equations), finding of inverse matrix of the Denavit—Hartenberg presentation, as well with other problems, such as multiple solutions when using the analytical approach. Common mathematical solutions of the inverse kinematics problem, such as geometric, iterative and algebraic ones, may not always lead to physically appropriate solutions. It’s also noteworthy, that, trying to introduce physical solutions for the manipulator, we need to take into account, that the number of calculation formulas increases, what, in turn, causes further computing power consumption increase. If the manipulator acquires additional degrees of freedom, analytical modeling becomes virtually impossible. One of relevant inverse kinematics solution methods consists in implementation of neural networks to that end. To solve this problem various sources were analyzed, considering alternative ways of target point discovery. Considering the analyzed papers, we propose to use a perceptron. Before training the network, we compose an algorithm, calculating the Denavit—Hartman presentation matrix and check for correctness of target point reach by the terminal manipulator link. We did calculations for a thousand positions of manipulator and object in the environment, fed to the neural network. When solving FKP we obtain object coordinates as network output, whereas in the case of IKP — manipulator link angles. We present kinematic scheme testing results, as well a control scheme for a manipulator with four degrees of freedom.

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Approach to Positioning Links of the Manipulator Using Neural Networks

Смирнов

Yakovlev

2019

Mehatronika, avtomatizaciâ, upravlenie

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Formalization of Tasks for Robotic Manipulators: Review and Prospects

Sorokoumov

2021

Mehatronika, avtomatizaciâ, upravlenie

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This overview of the problems formulations for robotic manipulators at different abstraction levels can be used to find the causes of troubles with some types of control systems. For many variants of manipulators, for example, biomorphic ones, it is not yet possible to achieve the required quality and universality. Nevertheless these tasks are solvable, which is proved by the natural movement control systems of biological organisms. One of the reasons of the difficulties is the complexity of the formalization of motion control, which prevents the development of universal approaches. The existing formalizations were separated by functional level to facilitate analysis. The high-level problems (the division of complex motor tasks into stages) are successfully solved by general planners or logical inference procedures. The middle-level problems (the trajectory tracing according to an abstract motor task) are so far solved less efficiently. Some existing tools, as linguistic methods, can greatly facilitate solution, but require significant and very laborious formalization of conditions. Inverse problems of kinematics and dynamics, conjugation of trajectory sections and direct control of the manipulator motors with error handling are further stages of processing; the quality of known solutions is usually acceptable. Based on the data collected, it can be argued that the development of methods for solving medium-level problems, i.e. constructing the trajectory of the robot according to the description of the action, is the most important domain for the successful creation of new types of manipulator control systems.

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Research and Educational Centre for Rocket Building, Miass Branch, South Ural State University

Nosikov

2019

PoHEI.MB

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The key aspect of radiation-proof manipulators used in nuclear industry is human presence in the manipulator control loop due to a wide variety of performed operations and the nondeterministic nature of the working environment. Relatively large distances between the control stations and the manipulators, imperfect visibility of the sealed chamber’s inner space from the control station necessitate the use of computer vision systems. They serve both for general chamber observation as well as local observation of the manipulator end-effector working area. High levels of radiation impose certain limitations on the primary video sensors with regard to radiation resistance and service life. This requires special technical solutions to ensure additional radiation protection as well as design and algorithmic ways of minimizing the influence of hazardous environment. Modern trends in digital manufacturing design are based on a system of unique identification of materials, package, etc. One of the technically viable ways is applying optical labels containing barcodes that are identified by algorithms. The article covers the design, structure, functional possibilities and experimental results of one of the radiation-proof manipulator vision systems. This system is designed for working together with radiation-proof robotic electromechanical manipulators installed in sealed chambers of nuclear plants.

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Control System of the RobotManipulator with Use of Neural Network Algorithms of Restriction of Work Area of the Gripper

Cited by 3 publications

References 1 publication

Approach to Positioning Links of the Manipulator Using Neural Networks

Approach to Positioning Links of the Manipulator Using Neural Networks

Formalization of Tasks for Robotic Manipulators: Review and Prospects

Research and Educational Centre for Rocket Building, Miass Branch, South Ural State University

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