No abstract

The advantages of anthropomorphic robotics include the ability to work in a human-oriented environment and the performance of complex tasks that usually only a person can cope with. One of the most important tasks in this area is the development of powerful anthropomorphic grippers. For several reasons anthropomorphic grippers with group drives are promising, in which movement from several joints is performed from one drive. The purpose of the article is a kinematic analysis of one of the possible design of such a gripper. In the article solved the direct and inverse problems of kinematics in an analytical form using the geometric method. The dependences of the Cartesian coordinates of the joints of the fingers on the joint coordinate describing the motion of a group drive were obtained for the solving the direct kinematic problem. The dependences between the joint coordinate of a group drive and desired position of the finger joints or the orientation of its links were obtained for solving the inverse problem of kinematics. The obtained results can be used further for performing dynamic analysis, parametric synthesis of the design and synthesis a control system for an anthropomorphic gripper with group drive.

Decentralized multi-agent robotic systems have many advantages over centralized ones. Such systems make it possible to distribute computational and communication operations between all its elements, and are also more resistant to the loss of individual elements of a swarm, but they complicate the implementation of complex high-level tasks. An example of such a problem is the selection of one of the possible alternatives, in which the swarm must choose the most favorable solution from a list of possible alternatives. This paper proposes an algorithm for reaching a consensus for robotic swarms deployed in scenarios in which they can choose one of the two most common signs in the external environment. The proposed algorithm is based on the calculation of the measured features of the environment, as well as the distribution of this data between robots. The algorithm was tested using the ARGoS simulator.

The study is devoted to the development of the structure of the upper-limb exoskeleton for operator's motion capture with master-slave control. The objective of the study is to develop design solutions in the field of registration of the current position of the operator's hand parts during the technological operations of the control commands formation for their accurate reproduction by the movements of the anthropomorphic manipulator links in real time. For the developed structure of the upper-limb exoskeleton, the division of the product scheme is described, the rationale for the design, the layout of kinematic pairs equipped with angular rotation sensors, and the design of the lever system that duplicates the operator's hand with its metric parameters is given. To check the efficiency of the exoskeleton design, a simulation program was used. The accuracy of the rotation angle of the exoskeleton elbow joint in the simulation model does not exceed 3.4%, shoulder joint-5.2%. The presented structure of the exoskeleton will allow to register the current positions of the operator's hand parts when performing technological operations and to form control commands for their accurate reproduction by the links of the manipulator.

The development of methods for planning joint movements of two anthropomorphic manipulators in a common operational space becomes relevant. This is due to the development of anthropomorphic robots. Existing methods have relatively large computational complexity. They cannot be used on platforms with limited computing resources. This article proposes an approximate analytical method for planning of joint movements of two anthropomorphic manipulators for point-to-point movements. The analytical method is based on the geometric interpretation of the kinematic redundancy of anthropomorphic manipulators. The method includes three stages. At the first stage, the movement of the wrists of the manipulators is planned, at the second stage elbow joints is planned, and at the third stage end effectors is planned. In the event of a possible collision of manipulators, correction of their path is carried out by "pushing". Its computational complexity is about thousand operations. Simulation of the proposed method showed its efficiency. This method has prospects for implementation in existing manipulator control systems.