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Structural Analysis and Animated Simulation of Biotechnical Position-Velocity Control System of a Robot-Manipulator

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Interactive Collaborative Robotics (ICR 2018)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 11097))

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Abstract

The comparative analysis of different types of structures of algorithms for a robot-manipulator control has been performed for the open-loop and closed-loop semi-automatic control by the gripper velocity and position vectors. Computer models have been developed for a position-velocity control system with reconfigurable structure of algorithms for a robot performing standard operations set by a human operator with a 3-degree-of-freedom handle. In the developed models an operator is represented by a vector dynamic element with dead time. Animated simulation of dynamic processes in systems with different structures of control algorithms has been performed and their precision characteristics have been evaluated. Some practical recommendations are given on the application of the achieved results for the development of training simulators for operators of robot control systems.

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Acknowledgments

The research outlined in this paper is partially supported by the Russian Science Foundation - grant #16-19-00199 (Sects. 1 and 2 of the paper) and the state project #0073-2018-0003 (Sects. 3 and 4 of the paper).

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Authors and Affiliations

  1. St. Petersburg Institute for Informatics and Automation of the Russian Academy of Sciences, 14th Line V.O. 39, 199178, St. Petersburg, Russia

    Ekaterina Rostova & Boris Sokolov

  2. Peter the Great St. Petersburg Polytechnic University, Polytechnicheskaya Str. 29, 195251, St. Petersburg, Russia

    Nikolay Rostov

  3. ITMO University, Kronverksky Pr. 49, 197101, St. Petersburg, Russia

    Ekaterina Rostova & Boris Sokolov

Authors
  1. Ekaterina Rostova
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  2. Nikolay Rostov
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  3. Boris Sokolov
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Corresponding author

Correspondence to Ekaterina Rostova .

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Editors and Affiliations

  1. St. Petersburg Institute for Informatics and Automation of the Russian Academy of Sciences, St. Petersburg, Russia

    Andrey Ronzhin

  2. TU Munich, Munich, Germany

    Gerhard Rigoll

  3. Institute for Control Problem of the Russian Academy of Sciences, Moscow, Russia

    Roman Meshcheryakov

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Rostova, E., Rostov, N., Sokolov, B. (2018). Structural Analysis and Animated Simulation of Biotechnical Position-Velocity Control System of a Robot-Manipulator. In: Ronzhin, A., Rigoll, G., Meshcheryakov, R. (eds) Interactive Collaborative Robotics. ICR 2018. Lecture Notes in Computer Science(), vol 11097. Springer, Cham. https://doi.org/10.1007/978-3-319-99582-3_23

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  • DOI: https://doi.org/10.1007/978-3-319-99582-3_23

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-99581-6

  • Online ISBN: 978-3-319-99582-3

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