Stability Study of Anthropomorphic Robot Antares under External Load Action

Kodyakov, Andrey; Pavlyuk, Nikita; Budkov, Victor; Prakapovich, Ryhor

doi:10.1088/1742-6596/803/1/012074

Cited by 8 publications

(6 citation statements)

References 9 publications

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“…Further research will involve series of practical experiments to evaluate the effectiveness of the developed algorithms on a number of RS, including anthropomorphic robots and multi-joint manipulators [14][15][16].…”

Section: Resultsmentioning

confidence: 99%

Improving energy efficiency of a robotic system based on multiple analytical solutions for inverse kinematics

et al. 2017

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Abstract. The paper presents the results of a study devoted to the problem of improving the energy efficiency of mechanical motion of anthropomorphic robotic systems. Achieving higher energy efficiency is largely due to the implementation of improvements directly in the algorithms that ensure the movement of a robotic system. For this purpose, several existing analytical methods for solving the inverse kinematics problem for robotic walking platforms were analyzed. According to the survey, key areas where modification can improve the energy efficiency of mechanical motion in various RS are identified. The paper discusses the algorithm developed to optimize the solutions of the inverse kinematics problem in terms of energy consumption.

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Section: Resultsmentioning

confidence: 99%

Improving energy efficiency of a robotic system based on multiple analytical solutions for inverse kinematics

et al. 2017

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“…as interaction with ground-based service robotic platforms and other collaborative robots [1,12,13].…”

Section: Analysis Of New Tasks Arising In the Management Of Uavs Withmentioning

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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“…Above functional and technical requirements will be taken into account when developing a ground-based robotic platform equipped with landing sites and multifunctional mechanisms for capturing unmanned aerial vehicles (UAVs) and servicing their embedded power systems, taking into account previously developed technological solutions [5][6][7].…”

Section: Introductionmentioning

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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Stability Study of Anthropomorphic Robot Antares under External Load Action

Cited by 8 publications

References 9 publications

Improving energy efficiency of a robotic system based on multiple analytical solutions for inverse kinematics

Improving energy efficiency of a robotic system based on multiple analytical solutions for inverse kinematics

Issues of physical interaction of unmanned aircraft manipulators with ground objects

Classification of robotic battery service systems for unmanned aerial vehicles

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