Название: Frontiers in Robotics and Electromechanics
Автор: Andrey Ronzhin, Viacheslav Pshikhopov
Издательство: Springer
Год: 2023
Страниц: 444
Язык: английский
Формат: pdf (true)
Размер: 15.1 MB

This book introduces intellectual control systems and electromechanics of heterogeneous robots. The book uncovers fundamental principles of robot control and recent developments in software and hardware of robots. The book presents solutions and discusses problems of single robotic devices as well as heterogeneous robotic teams while performing technological tasks that require informational, physical or energetic interaction with human users, environment and other robots. The book considers model–algorithmic and software–hardware control of ground, water and underwater robots, unmanned aerial vehicles, as well as their embedded and attached sub-systems, including manipulators, end-effectors, sensors, actuators, etc. The book will be useful for researchers of interdisciplinary issues related to robotics, electromechanics and Artificial Intelligence. The book is recommended for graduate students with a major/minor in the areas of robotics and mechatronics, management in technical systems, Internet of Things, Artificial Intelligence, electrical engineering, mechanical engineering and Computer Science.

Digital transformation of society and declining cost of robots open up new areas of application of robotic technology. A retrospective analysis of the development of robotics allows us to assess the future development of the industry and highlight the most promising research areas for the development of intelligent control systems and electromechanics of heterogeneous robots.

The book presents solutions and notes of the problems of individual robotic devices, as well as heterogeneous groups of robots when performing technological tasks that require information, physical or energy interaction with people, the environment and other robots, including service-charging platforms. The book examines the models, algorithms and software, hardware control of ground, water and underwater robots, unmanned aerial vehicles, as well as their built-in and attached equipment, including video cameras, sensors, repeaters, manipulators, grippers, and other actuators.

Examples of bioinspired insectomorphic and four-legged robots, unmanned aerial vehicles with flapping wings, which allow them to move in an aggressive environment with moving obstacles and changing weather conditions, are considered. Multilink systems for manipulating objects and exoskeletons for enhancing the physical capabilities of a person and rehabilitation of the patient’s musculoskeletal system have been analyzed. Due to the observance of the correct angles of the patient’s hip and foot, as well as their precise positioning in the exoskeleton, rehabilitation is much faster.

To implement manipulators, various kinematic schemes are used, including those with a pyramidal structure, and their control systems are tuned through algorithms for learning an artificial neural network, reinforcement learning, an adaptive forecasting strategy, and a semi-Markov model. Decomposition of tasks in collaborative robotic systems is discussed. For complex and lengthy composite operations in the control system, it is possible to take into account the requirements for providing time to the rest of the participating people (depending on their current productivity and taking into account the drop in the efficiency of completing tasks on time) and periodic maintenance of collaborative robots.

Approaches to the calculation of trajectories of movement of robots in two-dimensional and three-dimensional environments with obstacles are considered. When constructing the trajectory of unmanned aerial vehicles of an aircraft type, the location of take-off and landing points is taken into account, which ensures a decrease in the number of maneuvers while driving. Simulation of labyrinthine environments is performed in the Gazebo simulator and other computer platforms.

Contents:
Part I. Modeling and Control of Manipulators, Multi-link Robots
1. Simulation of Foot Movement During Walking Based on the Study of Different Step Parameters
2. Mathematical Modeling of the Biomechanical Rehabilitation System of Foot Exoskeleton in Frontal and Sagittal Planes
3. Simulation of Controlled Motion of the Actuator of Robotic Systems in the Presence of Coupling Forces
4. Digital Control by Robot Manipulator with Improved Rigidity
5. Performance Evaluation of Multigrid Brute-Force Solutions of Inverse Kinematics Problem for the Robotis OP2 Humanoid Hand
6. Neural Network Approach for Solving Inverse Kinematics Problem of Modular Reconfigurable Systems
7. Algorithm of Trajectories Synthesis for Modular Wheeled Inspection Robot
Part II. Interaction and Control of Robot Group
8. Study of Algorithms for Coordinating a Group of Autonomous Robots in a Formation
9. Intelligent System for Countering Groups of Robots Based on Reinforcement Learning Technologies
10. LIRS-MazeGen: An Easy-to-Use Blender Extension for Modeling Maze-Like Environments for Gazebo Simulator
11. Modeling of Joint Motion Planning of Group of Mobile Robots and Unmanned Aerial Vehicle
12. Simulation of Controllable Motion of a Flying Robot Under the Action of Aerodynamic Force of a Bioinspired Flapping Wing
13. Approaches to Optimizing Individual Maneuvers of Unmanned Aerial Vehicle
14. Neural Network Technologies in the Tasks of Estimating and Forecasting the Resource of Power Supply Systems in Robotic Complexes
15. Instantaneous Common-Mode Voltage Reduction of Three-Phase Multilevel Voltage Source Inverter Under Quarter-Wave-Symmetric Space Vector PWM with Full Set of Vectors
16. System of Decentralized Control of a Group of Mobile Robotic Means Interacting with Charging Stations
17. Method for Optimizing the Trajectory of a Group of Mobile Robots in a Field of Repeller Sources Using the Method of Characteristic Probabilistic Functions
Part III. Heterogeneous Robots in Monitoring and Service Tasks