Mobile ground-based robot systems for professional use

Lopota, A. V.; Spassky, Boris

doi:10.31776/rtcj.8101

Cited by 4 publications

(9 citation statements)

References 18 publications

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“…90 90 90 0 90 90 90 Taking into account the angular transformation of coordinates and using the Steiner theorem [1], let's calculate the elements of the AMR inertia tensor of a changing configuration with respect to the coupled coordinate system МX M Y M Z M using the Mathcad application package. The results of calculations of the values of the elements of the inertia tensor depending on the values of the generalized coordinates of the moving elements of the structure are given in Table 2.…”

Section: First Linkmentioning

confidence: 99%

“…In robotics, there is a tendency to increase the autonomy of mobile robotic systems (RS). The works [1,2] emphasize the importance of using the modular principle of assembling the structures of autonomous mobile robots (AMRs). The introduction of the modular principle leads to the creation of flexible functional reconfigured complexes with the possibility of further modernization.…”

Section: Introductionmentioning

confidence: 99%

“…In remote work in extreme a priori uncertain conditions, when performing technological operations with fragile or explosive objects, AMR with a manipulator is used [1][2][3].…”

Section: Introductionmentioning

confidence: 99%

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Analysis of the inertia tensor of autonomous mobile robot

Ashhepkova

2022

TAPR

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The object of research is the inertia tensor of an autonomous mobile robot (AMR) with a manipulator with different configurations of their mutual position. As an example of the AMR design of a changing configuration, an all-wheel drive four-wheeled platform with a manipulator is considered, consisting of a docking disk rotating around a vertical axis and rod links of the arm connected by rotational kinematic pairs of the fifth class. The mass of moving structural elements, i. e., a manipulator with a load, is 10–20 % of the mass of the robot platform. Let’s consider that the links of the manipulator and the platform are absolutely rigid and homogeneous bodies with a constant density; let’s neglect the mass of kinematic pairs. The next step in the analysis of the AMR inertia tensor of a changing configuration can be a study taking into account the elastic properties of the manipulator links, the uneven distribution of the masses of the platform, and the characteristics of the kinematic pairs. The dependence of the values of the elements of the AMR inertia tensor of a changing configuration on the values of the generalized coordinates of the moving elements of the structure and the ratio of the mass of the platform and the mass of the moving elements of the structure has been studied. The analysis of the inertia tensor of the AMR with a manipulator at different configurations of their mutual position showed that the values of the centrifugal moments of inertia of the system during the relative motion of the manipulator are commensurate with the value of the axial moments of inertia of the system, even if the mass of the moving structural elements is less than 10% of the mass of the platform. In most existing AMRs, the mass of moving structural elements is up to 20% of the platform mass, therefore, in the general case, the inertia tensor of such a system should be taken as off-diagonal and non-stationary. In the future, this will make it possible to refine the equation of dynamics, take into account the relationship of control channels, simulate the movement of AMR of a changing configuration, and optimize energy costs. Since AMR with the manipulator is an example of the «changing AMR» object class, the results obtained can be applied to all objects of this class.

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Section: First Linkmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Analysis of the inertia tensor of autonomous mobile robot

Ashhepkova

2022

TAPR

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“…For example, AMR of a variable configuration performs operations under dangerous or harmful conditions for humans. Increasingly, M is used for military purposes [1,2], in space [3,4], in nuclear energy [5], to overcome the consequences of man-made and natural disasters [6]. For work under extreme conditions, remotely controlled AMR with M are typically used [1][2][3][4][5][6].…”

Section: Introductionmentioning

confidence: 99%

“…Increasingly, M is used for military purposes [1,2], in space [3,4], in nuclear energy [5], to overcome the consequences of man-made and natural disasters [6]. For work under extreme conditions, remotely controlled AMR with M are typically used [1][2][3][4][5][6]. To ensure effective remote control of AMR with M, it is necessary to design:…”

Section: Introductionmentioning

confidence: 99%

Construction of a mathematical model of the dynamics of an autonomous mobile robot of variable configuration

Ashhepkova

2022

EEJET

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This paper considers the construction of a mathematical model of the movement of an autonomous mobile robot (AMR) in variable configuration, taking into account the relationship of the dynamic parameters of a mechanical system. As an example, the design of AMR with a manipulator is considered. The object of this study is the dynamics of AMR with a manipulator. The peculiarities of the dynamics of AMR with the manipulator are due to the change in the position of the center of mass of the system with the relative movement of the manipulator and the commensurate non-diagonal and diagonal elements of the inertia tensor calculated relative to the axes of the base coordinate system. The construction of the mathematical model was carried out according to the Nyton-Euler method. The resulting mathematical model contains: – an equation of motion of the center of mass of the AMR system of variable configuration along the trajectory in the inertial coordinate system; – an equation of angular motion of AMR in variable configuration in the inertial coordinate system; – an equation of motion of the manipulator with respect to AMR. In a general case, the center of mass of the AMR platform moves in a horizontal plane. Establishing the relationship of dynamic parameters of the mechanical system will make it possible to maintain functionality and ensure the orientation of AMR in vertical planes despite the movement of the manipulator. As an object of control, AMR with a manipulator is a multi-connected system with a cross-internal connection of control channels, which is formed by the dynamic parameters of a mechanical system. Based on the results of mathematical modeling using the proposed model, it is possible to develop algorithms for adaptive control using cross-connection of channels. This will make it possible to identify reserves to reduce energy consumption, increase stability, improve the efficiency and survivability of AMR in variable configuration during autonomous work under extreme conditions.

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Kinematics study for a spatial manipulator

Oparina

2023

E3S Web of Conf.

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For industrial robot design and control problems, it is necessary to determine both the positions of its parts relative to the stationary coordinate system, absolute positions of the parts, and their relative positions, generalised coordinates. The first problem is called the forward problem, and the second is the inverse problem for manipulator positions. The purpose of the paper is to solve the direct problem on manipulator positions, i.e., to determine and study positions of manipulator sections with known generalised coordinates. In the paper a spatial manipulator with four degrees of freedom is considered. Kinematic characteristics of the last link of the manipulator - grabber are defined. The kinematic characteristics are the coordinates of current position, velocity, and acceleration of the grip. Kinematic characteristics are found by applying the vector matrix method, based on the application of transition matrices from one reference system to another and rotation vector matrices. The vector matrix method belongs to the universal methods and is designed for use in mathematical computer simulation systems. Keywords: Vector matrix method, spatial manipulator, kinematic characteristics, mechanics of industrial robots.

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Mobile ground-based robot systems for professional use

Cited by 4 publications

References 18 publications

Analysis of the inertia tensor of autonomous mobile robot

Analysis of the inertia tensor of autonomous mobile robot

Construction of a mathematical model of the dynamics of an autonomous mobile robot of variable configuration

Kinematics study for a spatial manipulator

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