Pritykin F.N. —
Using computer simulation of the hand movement of an anthropomorphic robot to determine the position of its base relative to objects of manipulation
// Software systems and computational methods. – 2025. – ¹ 1.
– P. 1 - 12.
DOI: 10.7256/2454-0714.2025.1.70232
URL: https://en.e-notabene.ru/itmag/article_70232.html
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Abstract: The subject of the study is the use of an intelligent hand movement control system of an anthropomorphic robot when performing operations of placing objects of manipulation in a container of specified dimensions. The object of the study is the process of determining the parameters of the relative position of the base of the hand in relation to the objects of manipulation and the container, in which it is possible to perform motor tasks. The author examines in detail the algorithm for determining the position of the base of the arm of an anthropomorphic robot using the synthesis of movements along the velocity vector when solving the problem of installing manipulating objects specified in the form of rectangular prisms into a container. Special attention is paid in the article to the methodology of determining the center of the coordinate system associated with the base of the robot in a fixed space and calculating the target points to which the center of the output link moves at various positions of previously installed manipulation objects in the container. The essence of the method is to use computer simulation of the movement of an anthropomorphic robot using the synthesis of movements along the velocity vector with an assessment of the relative position of the arm mechanism and restricted areas. Previously installed manipulation objects located inside the container and the side walls of the container itself act as restricted areas. The main conclusions of the presented study are the possibility of using the developed algorithm to test the synthesis of hand movements with given geometric parameters that set the position of an anthropomorphic robot, conveyor and container, in which there is no occurrence of deadlocks. The novelty of the research consists in the development of a method based on an iterative search for the values of the parameters of the mutual position of the base of the arm, conveyor and container at each iteration in case of deadlock situations. The results of calculations of the position of the base of the robot arm and intermediate configurations constructed using computer simulation of movements based on the use of the developed algorithm are presented. The conducted research can be used in the development of information and control complexes of mobile objects, in particular in the development of intelligent control systems for autonomously functioning anthropomorphic robots in organized environments.
Pritykin F.N., Nefedov D.I. —
Study of geometric parameters defining the area of allowed configurations when changing the position of restricted areas
// Software systems and computational methods. – 2018. – ¹ 4.
– P. 48 - 59.
DOI: 10.7256/2454-0714.2018.4.25176
URL: https://en.e-notabene.ru/itmag/article_25176.html
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Abstract: The subject of the research is the automatic collision detection mechanism of the manipulator mechanism, with restricted zones used in the knowledge base of intelligent robot control systems. The object of the study is the area of allowed configurations defined in the space of generalized coordinates. The authors consider in detail such aspects as the parametric specification of the area of allowed configurations in the presence of forbidden zones in the working space of the manipulator mechanism. It is proposed to use a sufficient condition for determining the collisions of the manipulator mechanism and the forbidden zones, based on the use of the area of allowed configurations. The research methodology is based on the study of sections defining the shape and position of the region of allowed configurations. All allowed configurations in the space of generalized coordinates are displayed as a geometric object. This geometric object is specified in an analytical way by using several kinematic surfaces that limit it. The simulation results are given, which allowed us to develop a parametric method for specifying a set of sections that define the shape and position of the region of allowed configurations for different positions of the forbidden zones. The main conclusion of the study is to reduce the calculation time of test tasks related to virtual modeling of the movement of the Varan mobile robot arm mechanism using the developed mechanism for collision detection of the mechanism with the environment. A special contribution of the authors to the study of the topic is the development of a parametric method for defining the area of allowed configurations used in the intelligent control of the motion of the manipulator mechanism in a previously known external environment. The novelty of the research lies in the development of a more productive method for analyzing information on the position of the manipulator mechanism and forbidden zones on the basis of the obtained analytical dependencies.
Pritykin F.N., Nefedov D.I. —
Creating a knowledge base about past experience in the synthesis of arm movements of an android robot based on the use of the area of allowed configurations
// Software systems and computational methods. – 2018. – ¹ 4.
– P. 60 - 67.
DOI: 10.7256/2454-0714.2018.4.26638
URL: https://en.e-notabene.ru/itmag/article_26638.html
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Abstract: The subject of research is the intellectual system for controlling the movement of the hand of an android robot in the presence of forbidden zones in the working space. The object of research is the automatic collision detection mechanism of the hand of an android robot, with obstacles at the level of virtual motion simulation. The authors examine in detail such aspects of the topic as determining the conditions of collisions based on the use of the area of allowed configurations and the synthesis of movements excluding the occurrence of dead ends in relation to the movement of the arm of an android robot. Particular attention is paid to the development of an analytical method for specifying the area of allowed configurations in the space of generalized coordinates in the presence of a previously known forbidden zone in the workspace. In this case, the space of generalized coordinates is given by the axes, in the direction of which they lay the angles defining the angular displacements in the rotational kinematic pairs. The research methodology is based on the calculation and analytical task of two-dimensional sections that define the area of allowed configurations. These sections are proposed to be specified using the sets of triangles. A special contribution of the authors to the study of the topic is the development of a generalized method for analytically specifying the area of allowed configurations. The obtained analytical dependences allow you to specify the area of allowed configurations, which is the knowledge base for intelligent control of the movement of the hand mechanism in a previously known external environment. The novelty of the research lies in the use of the area of allowed configurations in the synthesis of the trajectory in the space of generalized coordinates, which allows for the correction of the movement of the android robot arm in order to foresee and eliminate dead ends in the synthesis of movements along the velocity vector.