Simulation of Manipulator as a Part of Space Robotic System Weightlessness Device

Isaenko, Sergei; Sochivko, Oleg; Shardyko, Igor; Titov, Victor

doi:10.2507/26th.daaam.proceedings.076

Cited by 4 publications

(3 citation statements)

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“…The lower the pointing accuracy, the higher the beam divergence shall be, the more transmit power shall be used to provide the same communication speed. The aim of this work is to develop a laser terminal and PAT systems for the experimental laser communication testing between two or more mobile robots [6][7][8][9][10][11][12][13][14][15][16][17][18].…”

Section: Introductionmentioning

confidence: 99%

Laser Communications Prototyping for the Group of Mobile Robots

Pryanichnikov¹,

Stepanova²

2016

Proceedings of the 27th International DAAAM Symposium 2016

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Laser communications in case of a group of mobile robots communication in extreme conditions can be considered as an alternative or supplement to the radio. Thus, this work aims to develop a laser communication terminal for a mobile robot and with the particular focus on building the pointing, acquisition and tracking (PAT) system. During the present work, the idea of the laser terminal design was proposed based on the analysis of requirements and the model of data transmission between two mobile robots. The mathematical model of the PAT control system and stability analysis showed the feasibility of the design. A separate part of the work was also dedicated to the development of the robot orientation determination system and PAT stabilization system. The prototype and all necessary algorithms were implemented and the hardware and software were created. At this point, the laser terminal has been tested and has achieved acceptable performance of 5 degrees of accuracy under existing constraints. The paper was partially supported by the Russian Foundation for Basic Research, project No.

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Section: Introductionmentioning

confidence: 99%

Laser Communications Prototyping for the Group of Mobile Robots

Pryanichnikov¹,

Stepanova²

2016

Proceedings of the 27th International DAAAM Symposium 2016

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“…The basic structure of the MRS consists of three main parts: a frame, a hermetical equipment bay and an open body platform for placing autonomously operating scientific equipment to be unloaded during the mission to the lunar surface by means of a manipulator [11,12].…”

Section: Mrs Conceptmentioning

confidence: 99%

Design Concept Lunar Rover for the Moon Geological Exploration

Vasiliev¹,

Dalyaev²,

Slyuta³

2017

DAAAM Proceedings

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The paper discusses the current results of mobile robotic system «Robot-Geologist» development. The robot is intended to maintain geological exploration on the surface of the Moon. Distinctive features of the project in comparison with the known planetary rover projects comprise: superior length of the estimated research route up to 500 km; an autonomous control system capable of moving from one point of scientific interest to the other; a wide range of scientific equipment and an extensive program of research, including lunar surface sampling along with drilling and investigation of wells. The key feature of the "Robot-Geologist" is the ability to transport samples in the course of the expedition and upload them to returnable spacecraft. The paper presents a description of the proposed robot concept as a result of the project development.

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“…Nowadays, a wide range of different support software tools are available; it provides many possibilities and ways to determine mathematical or physical model [4,5,6,7,9,10,11,13,14,15,17,18,19,20]. Accurate detection of a mathematical model is complicated in the case of a complex mechanical structure with many parts, and it should not be used for simulation purposes and controller determination at the same time.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Behaviour Comparison of Three Different Mathematical Model Complexities

Zátopek¹,

Urednicek²

2017

DAAAM Proceedings

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Dynamic behaviour comparison of three different mathematical descriptions complexity for first 3 joints of 6 degrees of freedom robotic structure is presented in this article. Firstly, 3D CAD model is designed in SolidWorks, which is used as the basis for a physical and mathematical model. The CAD model is exported directly from SolidWorks to SimMechanics as a physical model which is considered as the most accurate replacement for a real model in this work. The first type of a mathematical model is the most precise but also the most complex; it is based on SolidWorks inertia matrices and matrix form of Lagrange's motion equations of the second kind. The second type of a mathematical model is created by each part replacement with a suitable simplified shape; classical integration approach with Lagrange's motion equations of the second kind is used. The third type of a mathematical model is based on the same approach as the second type, but all the objects are replaced by mass points. At the end, all the results of dynamic behaviour are compared with the physical model, for utilization in controller design.

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Simulation of Manipulator as a Part of Space Robotic System Weightlessness Device

Cited by 4 publications

References 0 publications

Laser Communications Prototyping for the Group of Mobile Robots

Laser Communications Prototyping for the Group of Mobile Robots

Design Concept Lunar Rover for the Moon Geological Exploration

Dynamic Behaviour Comparison of Three Different Mathematical Model Complexities

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