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

Visual coordination task for human-robot collaboration

In the framework of Human-Robot Collaboration, a robot and a human operator may need to move in close coordination within the same workspace. A contactless coordinated motion can be achieved using vision, mounting a camera either on the robot end-effector or on the human. We consider here one instance of such a visual coordination task, with the robot end-effector that should maintain a prescribed position with respect to a moving RGB-D camera while pointing at it. For the 3D localization of the moving camera, we compare three different techniques and introduce some improvements to the best solution found for our application. For the motion tracking problem, we introduce a relaxed version of the pointing part of the task. This allows to take advantage of the redundancy of the robot, distributing the control effort over the available degrees of freedom. The effectiveness of the proposed approach is shown by V-REP simulations and experiments with the 7-dof KUKA LWR manipulator