The formation of motion laws for mechatronics objects along the paths with the desired speed

Filaretov, Vladimir; Gubankov, Anton; Gornostaev, Igor

doi:10.1109/ic3ina.2016.7863030

Cited by 19 publications

(8 citation statements)

References 1 publication

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…The sequence of points T j and their respective vectors → a j and → n j of the MM working tool, formed by the program, was transferred to the Matlab/Simulink via the UDP protocol. In Matlab/Simulink, the resulting sequence was smoothed using a third-order parametric B-spline [42]. Program control signals for the electric drives of the respective degrees of MM mobility were generated using this sequence.…”

Section: Software Implementation and Results Of The Study Of The Methods For Supervisory Control Of An MM Mounted On A Uuvmentioning

confidence: 99%

A Method for Supervisory Control of Manipulator of Underwater Vehicle

Konoplin

Filaretov

Yurmanov

2021

JMSE

View full text Add to dashboard Cite

A novel method for supervisory control of multilink manipulators mounted on underwater vehicles is considered. This method is designed to significantly increase the level of automation of manipulative operations, by the building of motion trajectories for a manipulator working tool along the surfaces of work objects on the basis of target indications given by the operator. This is achieved as follows: The operator targets the camera (with changeable spatial orientation of optical axis) mounted on the vehicle at the work object, and uses it to set one or more working point on the selected object. The geometric shape of the object in the work area is determined using clouds of points obtained from the technical vision system. Depending on the manipulative task set, the spatial motion trajectories and the orientation of the manipulator working tool are automatically set using the spatial coordinates of these points lying on the work object surfaces. The designed method was implemented in the C++ programming language. A graphical interface has also been created that provides rapid testing of the accuracy of overlaying the planned trajectories on the mathematically described surface of a work object. Supervisory control of an underwater manipulator was successfully simulated in the V-REP environment.

show abstract

Section: Software Implementation and Results Of The Study Of The Methods For Supervisory Control Of An MM Mounted On A Uuvmentioning

confidence: 99%

A Method for Supervisory Control of Manipulator of Underwater Vehicle

Konoplin

Filaretov

Yurmanov

2021

JMSE

View full text Add to dashboard Cite

show abstract

“…To provide smooth movements of the MM working tool along the trajectory, the sequences of points X j or T j can be smoothed by parametric 3rd-order B-splines using the algorithm [32].…”

Section: Software-based Implementation Of the System And The Mathemat...mentioning

confidence: 99%

Development of a Control System for Multilink Manipulators on Unmanned Underwater Vehicles Dynamically Positioned over Seafloor Objects

et al. 2022

View full text Add to dashboard Cite

This article considers an approach to synthesizing a multilevel system to control movements of a multilink manipulator (MM) mounted on an unmanned underwater vehicle (UUV) for performing autonomous manipulative operations in the mode of dynamic positioning over various objects on the seafloor. The system is based on an upgraded method that, using point clouds received from the machine vision systems (MVS), provides high-accuracy determination of the shape and location of the work object relative to UUV. The preset trajectories of the MM working tool are overlaid on the identified surface of the object, with possible silting, fouling or deformation of the latter taken into account. To execute the programmed trajectories with the MM working tool, the following methods have been implemented in software: stabilization of UUV in hovering mode near the object, high-precision control of working tool’s movements, and also corrections of its trajectory taking into account UUV’s displacements relative to the object. The synthesized system has been developed in the C++ programming language. The operation of the system has been numerically simulated using a model of UUV with MM, as well as models of the environment and the target object, in the Matlab/Simulink and V-REP software packages. The results of the study show a high efficiency of the system both in processing sensor information and in providing the dynamic control of movements of an UUV with a MM.

show abstract

“…[19]. Каждая команда обеспечивает переход ПРК из его текущего положения в положение, заданное командой, в соответствии с желаемым режимом движения [20]. В качестве основных примитивов движения выделяются: движение в заданную точку (результирующая траектория не имеет значения), движение по прямой, движение по сплайну.…”

Section: рис 3 общая схема реализации иус прк совместимой с цифровой платформойunclassified

Digital Platform for the Creation of Distributed Control and Navigation Systems for Underwater Vehicles

Filaretov¹,

Yukhimets²,

Зуев³

et al. 2021

IZVESTIYA SFedU. ENGINEERING SCIENCES

View full text Add to dashboard Cite

The formation of motion laws for mechatronics objects along the paths with the desired speed

Cited by 19 publications

References 1 publication

A Method for Supervisory Control of Manipulator of Underwater Vehicle

A Method for Supervisory Control of Manipulator of Underwater Vehicle

Development of a Control System for Multilink Manipulators on Unmanned Underwater Vehicles Dynamically Positioned over Seafloor Objects

Digital Platform for the Creation of Distributed Control and Navigation Systems for Underwater Vehicles

Contact Info

Product

Resources

About