HIERARCHICALLY INTELLIGENT CONTROL: APPLICATION TO ROBOTIC SYSTEMS

2001 ◽  
pp. 84-99
Keyword(s):  
Intelligent Control ◽  
Robotic Systems ◽  
Control Application

Connecting System for Quick Replacement of Mechatronic SCHUNK Power Cube Modules for Mobile Robotic Systems

2015 ◽  
Vol 772 ◽  
pp. 318-323 ◽  
Author(s):  
Zdenko Bobovský ◽  
Václav Krys ◽  
Ján Babjak ◽  
Tomáš Kot
Keyword(s):  
Robotic System ◽  
Robotic Systems ◽  
Kinematic Structure ◽  
Future Outlook ◽  
Control Application

The article describes the synthesis of the connecting system for mechatronic modules SCHUNK PowerCube PR70, PR90 and PW90. Emphasis is placed on enabling the quick reconfiguration of the kinematic structure of the manipulator for a mobile robotic system built from these modules. The article describes the process of synthesis of mechanic components of the system, hardware and software ensuring the necessary functions for the realization of connections, detection of orientation of the connected module, securing the flow of energy and data signals and the appropriate response in the control application of the system. This is substantiated by evaluating tests realized on produced prototypes of connecting systems. The article also describes a future outlook for further developments of the connecting system.

Intelligent Control of Robotic Systems

2020 ◽  
Author(s):  
Laxmidhar Behera ◽  
Swagat Kumar ◽  
Prem Kumar Patchaikani ◽  
Ranjith Ravindranathan Nair ◽  
Samrat Dutta
Keyword(s):  
Intelligent Control ◽  
Robotic Systems

scholarly journals A review on control systems hardware and software for robots of various scale and purpose. Part 1. Industrial robotics

2019 ◽  
Vol 7 (5) ◽  
pp. 30-46 ◽  
Author(s):  
A. M. Romanov
Keyword(s):  
Control System ◽  
Fault Tolerance ◽  
Control Systems ◽  
Intelligent Control ◽  
Industrial Robot ◽  
Cloud Service ◽  
Point Of View ◽  
Industrial Robots ◽  
Robotic Systems ◽  
Industrial Robotics

A review of robotic systems is presented. The paper analyzes applied hardware and software solutions and summarizes the most common block diagrams of control systems. The analysis of approaches to control systems scaling, the use of intelligent control, achieving fault tolerance, reducing the weight and size of control system elements belonging to various classes of robotic systems is carried out. The goal of the review is finding common approaches used in various areas of robotics to build on their basis a uniform methodology for designing scalable intelligent control systems for robots with a given level of fault tolerance on a unified component base. This part is dedicated to industrial robotics. The following conclusions are made: scaling in industrial robotics is achieved through the use of the modular control systems and unification of main components; multiple industrial robot interaction is organized using centralized global planning or the use of previously simulated control programs, eliminating possible collisions in working area; intellectual technologies in industrial robotics are used primarily at the strategic level of the control system which is usually non-real time, and in some cases even implemented as a remote cloud service; from the point of view of ensuring fault tolerance, the industrial robots developers are primarily focused on the early prediction of faults and the planned decommissioning of the robots, and are not on highly-avaliability in case of failures; industrial robotics does not impose serious requirements on the dimensions and weight of the control devices.

scholarly journals A review on control systems hardware and software for robots of various scale and purpose. Part 2. Service robotics

2020 ◽  
Vol 7 (6) ◽  
pp. 68-86
Author(s):  
Aleksey M. Romanov
Keyword(s):  
Fault Tolerance ◽  
Control Systems ◽  
Intelligent Control ◽  
Point Of View ◽  
Robotic Systems ◽  
Service Robotics ◽  
Computing Device ◽  
Common System ◽  
Common Block ◽  
Multi Level

A review of robotic systems was carried out. The paper analyzes applied hardware and software solutions and summarizes the most common block diagrams of control systems. The analysis of approaches to control systems scaling, the use of intelligent control, the achievement of fault tolerance, and the reduction of the weight and size of control system elements belonging to various classes of robotic systems were carried out. The goal of the review is finding common approaches used in various areas of robotics to build on their basis a uniform methodology for designing scalable intelligent control systems for robots with a given level of fault tolerance on a unified component base. This part is dedicated to service robotics. The following conclusions are made on the basis of the review results: the key technology in service robotics from the point of view of scalability is the Robot Operating System (ROS); service robotics is today the main springboard for testing intelligent algorithms for the tactical and strategic control levels that are integrated into a common system based on ROS; the problem of ensuring fault tolerance in the service robotics is practically neglected, with the exception of the issue of increasing reliability by changing behavioral algorithms; in a number of areas of service robotics, in which the reduction of mass and dimensions is especially important, the robot control systems are implemented on a single computing device, in other cases a multi-level architecture implemented on Linux-based embedded computers with ROS are used.

scholarly journals Intelligent robotic systems implementation in the shipbuilding enterprise processes production

2021 ◽  
pp. 97-104
Author(s):  
М.А. Горькавый ◽  
А.И. Горькавый ◽  
А.С. Гудим ◽  
М.А. Мельниченко ◽  
В.П. Егорова
Keyword(s):  
Technological Process ◽  
Intelligent Control ◽  
Arc Welding ◽  
Ship Hull ◽  
Robotic Systems ◽  
Control Algorithms ◽  
Systems Implementation ◽  
Technological Complex ◽  
Low Degree ◽  
Electric Arc Welding

Работа посвящена автоматизации технологического процесса сварки судокорпусных конструкций. В настоящее время большинство технологических процессов в судостроении сопряжено с использованием ручного труда и имеют низкую степень автоматизации. Авторами был проведен структурный и функциональный анализ типового технологического процесса сварки узлов корпуса судна, на основе которых был сделан вывод о необходимости повышения эффективности функционирования технологического процесса. Для этих целей был разработан роботизированный технологический комплекс электродуговой сварки узлов корпуса судна с применением интеллектуальных алгоритмов управления. Чтобы подтвердить эффективность предлагаемого решения, приведены результаты практической работы авторов по проектированию технологического процесса сварки судокорпусных конструкций в лабораторных условиях. The work is devoted to the automation of the technological process of welding ship hull structures. Currently, most of the technological processes in shipbuilding involve manual labor and have a low degree of automation. The authors carried out a structural and functional analysis of a typical technological process of welding ship hull units, on the basis of which it was concluded that it is necessary to increase the efficiency of the technological process. For these purposes, a robotic technological complex for electric arc welding of ship hull assemblies was developed using intelligent control algorithms. To confirm the effectiveness of the proposed solution, the results of the author's practical work on the design of the technological process of welding ship hull structures in laboratory conditions are presented.

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