Разработка программно-алгоритмического комплекса управления для учебного робототехнического стенда

В данной работе рассматривается вопрос разработки программно-аппаратного комплекса управления учебным роботом-манипулятором, необходимый как для обучения студентов работе с промышленным роботом, так и для проведения научно-исследовательских работ. Проведен обзор имеющихся в науке и промышленности решений по данной тематике, разработана структурная схема, синтезирована математическая модель двигателя для робота-манипулятора, проведена настройка трех контуров управления: по току, скорости и положению. Создана динамическая трехмерная модель робота манипулятора для возможности визуализации работы манипулятора.This study examines the matter of development of training manipulation robot control hardware and software suite, required both to train students to operate industrial robot and to perform research works. A review of the solutions on this subject existing in science and industry has been performed, structural schematic has been developed, mathematical model of manipulation robot motor has been synthesized, adjustment of three control circuits has been performed: by current, by velocity and by position. 3D dynamic model of manipulation robot has been created with the purpose to enable visualization of manipulator operation

Parallel collision check for sensor based real-time motion planning

In this paper we present a real-time collision check algorithm based on the parallel computation capabilities of recent graphics card’s GPUs. We show an effective application of the proposed algorithm to solve the task-constrained real- time motion planning problem for a redundant manipulator. We propose a proof-of-concept motion planner based on fast collision check of predicted robot motion over a given planning horizon. Obstacles are avoided exploiting the redundancy of the robot. Reactive velocities are computed for some control points placed on the robot and projected in the null space of the task Jacobian. The approach is validated through simulations in V-Rep environments and experiments on the KUKA LWR-IV 7-DoF manipulator