Abstract
Introduction: In the modern world, more and more tasks are performed by robotic systems with artificial intelligence. Of great interest is the creation of control systems for distributed groups of robots when operating under conditions of non-stationarity of the external environment and interaction of robots, as well as insufficient information about the situations that arise. One of the most promising directions for the synthesis of such systems is the use of situational control methods. Modern intellectual systems calculate control actions taking into account forecasting, using adequate models of control objects. The development of such models should meet the following criteria. Such a model should adequately describe the behavior of the control object, should be compact and economical in terms of computation, since such models are repeatedly used to predict in one iteration of the control calculation cycle. Testing and analysis of situational control systems are important tasks that are often solved by simulation methods using control object models. Therefore, the development and analysis of situational control systems of groups of robots and the creation of adequate models of the dynamics and kinematics of these robots are actual. Purpose: To develop a simplified kinematic and dynamic model of a warehouse loader robot for use in the analysis system of situational control of a group of robots. Methods: Creating a library of modules based on object-oriented modeling methods. The library allows you to simulate the kinematics and dynamics of various configurations of robots based on intelligent electromechanical modules with a parallel kinematic scheme (SEMS). Results: Kinematic and dynamic models of a warehouse loader robot created from modules with parallel kinematic scheme (SEMS) are proposed. The robot is equipped with two universal adaptive grips that simulate human hands. These models can be used to calculate the trajectories of the robots and calculate the movements of universal adaptive grippers. These models can be used as virtual robots for testing situational control systems of a group of robots. Practical significance: The research results are supposed to be used in the development of test equipment of situational control systems for a group of robots.
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This work was financially supported by Russian Foundation for Basic Research, Grant 19-08-00079.
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Kuchmin, A.Y. (2020). Test Model of a Warehouse Loader Robot for Situational Control Analysis System. In: Gorodetskiy, A., Tarasova, I. (eds) Smart Electromechanical Systems. Studies in Systems, Decision and Control, vol 261. Springer, Cham. https://doi.org/10.1007/978-3-030-32710-1_19
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