The Method of Network Control of Robotic Systems of Different Models and Manufacturers

Andreev, Victor P.; Pletenev, Paul; Poduraev, Yury

doi:10.2507/26th.daaam.proceedings.101

Cited by 3 publications

(3 citation statements)

References 6 publications

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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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“…However, a direct application of ROS is "heavy" -you need at least a computer running a full Linux OS, you must additionally set a large set of various software, which requires a high level of input use (for example, dialects of XML are using for the configuration). In the modules of the robot the microcontrollers or, as a maximum, single board computers are typically used; ROS is not focused to work directly on the microcontroller [10]. Therefore, we must create a software framework that would be compatible with ROS, but it would be easy to implement on embedded systems.…”

Section: The Inter-module Communicationmentioning

confidence: 99%

The Principle of Full Functionality – the Basis for Rapid Reconfiguration in Heterogeneous Modular Mobile Robots

Andreev¹,

Kim²,

Pletenev³

2017

DAAAM Proceedings

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This paper proposes to design a heterogeneous modular mobile robot control system based on the principle of full functionality of the modules. The full functionality of a mechatronic device is the ability to perform its goal function using only its own facilities for executing instructions from an external control system. The external control system is a module-supervisor of modular robot in relation to the other modules of the robot. This module forms the control goal and verifies only the result of its achievement by executive module, but doesn't control the task execution process by the module. The full functionality of robot modules is achieved by designing each module as a full-featured electronic or mechatronic device with its own the information-measuring and control system that containing all necessary components: sensors, computing devices and actuators. The use of a network principle of the robot's information-measuring and control system construction and the Ethernet standards provides the capability of direct inter-module information interaction and the ability to rapidly form and alter the structure of the robot directly on the scene of the works and during the works themselves.

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“…[10] • Communication principles between networked robots and remote control solutions are described [11] • Use of Robot Operating System (ROS) for implementation and programming of mobile robots for process [12] • Use of computer vision for mobile robots trajectory planning and mapping [13] Abovementioned concepts can be used as a base for further development also in this case. Although this case includes only one robot in future several robots will be included in this study.…”

Section: Background and Current Situationmentioning

confidence: 99%

Collaborative Work Between Human And Industrial Robot In Manufacturing By Advanced Safety Monitoring System

Kuts¹,

Sarkans²,

Otto³

et al. 2017

DAAAM Proceedings

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Collaborative work between human and industrial robot in different areas is developing rapidly. High payload industrial robots that can harm humans execute their tasks in separated protected areas and are regulated by safety standards. The main aim of this study was to design experiments, analyze, and model the collaborative work and safety monitoring systems by using small industrial robots with inbuilt power and force limiting. Different methods of collaboration are standardized by the ISO/TS 15066:2016. Human co-work with robots gives us a variety of options that can be used in manufacturing and other related areas. The advanced multi-level monitoring system of co-work processes can reach the highest level of the human safety with minimum robot downtime. Several methods were analyzed to find the optimal solution for the online monitoring processes. As a result, a safety multi-level monitoring system was designed, tested in simulation software with real-room conditions with an industrial robot. Safety multi-level system, as a part of the control and monitoring online system consist of different types of sensors and a microcontroller that can be attached to the Cyber Physical Production System (CPPS). Those control and monitoring methods and processes were implemented in experimental setup in Robot Operating System (ROS).

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The Method of Network Control of Robotic Systems of Different Models and Manufacturers

Cited by 3 publications

References 6 publications

Laser Communications Prototyping for the Group of Mobile Robots

Laser Communications Prototyping for the Group of Mobile Robots

The Principle of Full Functionality – the Basis for Rapid Reconfiguration in Heterogeneous Modular Mobile Robots

Collaborative Work Between Human And Industrial Robot In Manufacturing By Advanced Safety Monitoring System

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