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Roman Iordanov

Faculty of computer science and technology (CST)

Department of computer engineering (CE)

Speciality Computers, complexes, systems and networks

Mobile robot based on Arduino platform

Scientific adviser: Ph. D., Associate Tatyana Zavadskaya

Resume Abstract

Abstract

Content

• Introduction
• 1. Theme urgency
• 2. Goal and tasks of the research
• 3. Analysis of existing robotic systems
• 3.1 Travel systems
• 3.2 Robot subsystems
• 3.3 Robot control techniques
• Conclusion
• References

Introduction

Robotics is a rapidly progressing area of ??great interest to engineers and designers. Today, robotic systems are successfully being introduced into areas dangerous for humans. The development of robotics is also due to a wide range of tasks that need to be addressed.

1. Relevance of the topic

With the need to increase productivity, ensure decent quality of the goods produced and reduce the cost of workers, the process of automating the industry has begun. Thus, robotic systems have led production to a new milestone in development. Today, robots also successfully perform everyday tasks, freeing man from them. If earlier systems were primitive, aimed at performing one or several tasks, now there is an increase in the complexity of robotic systems, the development of their universality and the improvement of existing ones.

2. Цель и задачи исследования, планируемые результаты

Целью магистерской диссертации является создание прототипа мобильного робота на платформе Arduino. Главной задачей данной работы является проведение анализа в области роботизированных систем. Определениях классов, систем и подсистем.

3. Analysis of existing robotic systems

In robotics, two classes of most used robots are handling and mobile robots. Such robots are successfully used in almost all spheres of human life: industry, construction, household, and military affairs. The main tasks of any robot are to facilitate work and reduce the risk to human life.

The manipulation robot contains two organically related parts: the control device and the manipulator. The control device includes sensitive (sensor) devices, information processing and storage devices (computing device, information storage devices), and a drive control device. The manipulator from the point of view of mechanics and the theory of mechanisms is a complex spatial controlled mechanism with several degrees of freedom, containing rigid and elastic links, gears and drives. The manipulation robot is a single dynamic system. Due to its complexity in the study, it is necessary to isolate and consider separately the mechanisms, drives and control system [ 1 ].

A mobile robot is an automatic machine equipped with some movement systems and subsystems (sensors) that allow the robot to navigate in space, to determine the forces acting on it in the environment [ 2 ].

To work on the forecasting subsystem, it is advisable to use a mobile robot, in view of its capabilities.

3.1 Movement Systems

Choosing one or another way of moving a robot is one of the most important stages of its creation.

Systems of movement are the following: wheeled, tracked, walking. Wheel systems are the most common, as they provide sufficient maneuverability of the robot. Depending on the number of wheels, the degree of adhesion of the robot to the surface changes. There are one-wheeled robots (sharabots [ 3 ]), two-wheeled (segways [ 4 ]) and complicated designs with a six-wheel base. Tracked systems provide even more traction. They are equipped with modern robots for fast movement on rough surfaces. Difficulty causing movement over smooth surfaces. An example of such a robot could be a robot developed by NASA “Urbie” [ 5 ]. Less common is the walking system. The development of such a robot is a complex task of dynamics. A number of two-legged robots [ 6 ] have already been created that can move both on a smooth floor and on a ladder, but the problem of movement balancing is still acute.

There are a number of technologies that allow walking robots to move:

• Servo + Hydromechanical Drive - an early technology for designing walking robots, implemented in a number of models of experimental robots manufactured by General Electric in the 1960s.
• ZMP-technology: ZMP (Eng.) (English Zero Moment Point, "point of zero moment") - an algorithm used in robots like Honda's ASIMO. The on-board computer controls the robot in such a way that the sum of all external forces acting on the robot is directed toward the surface along which the robot moves. [ 7 ]
• Jumping robots: In the 1980s, Professor Mark Reibert of the Massachusetts Institute of Technology developed a robot capable of maintaining balance through jumping, using only one leg. The movements of the robot resemble the movements of a person on the simulator of the pogo-stick [ 8 ]. Subsequently, the algorithm was extended to mechanisms using two and four legs. Robots moving on four limbs, demonstrated running, moving trot, gait, jumps [ 8 ].
• Adaptive balance algorithms. Basically they are based on the calculation of deviations of the instantaneous position of the center of mass of the robot from a statically stable position or some kind of predetermined trajectory of its movement. In particular, the Big Dog walking robot carrier uses this technology. The adaptive algorithm for maintaining stability can also be based on maintaining the constant direction of the velocity vector of the center of mass of the system; however, such techniques prove to be effective only at sufficiently high speeds. The greatest interest for modern robotics is the development of combined sustainability techniques, combining the calculation of the kinematic characteristics of the system with highly efficient methods of probabilistic and heuristic analysis.

Other systems are crawling and flying, replicating the movement of animals. Crawling systems are successfully used to move robots under water, just as snakes do [ 8 ].

The model being created for a mobile robot will have a three-wheeled base for moving.

3.2 Robot Subsystems

Subsystems are some of the sensors with which a mobile robot is equipped to obtain complete environmental information and to ensure the safe movement of the machine. Sensors are classified by purpose.

3.2.1 Sensors. First group

Systems that determine the position of the robot in space, its orientation, posture, motion parameters, efforts in the robot’s executive system, interaction forces with external objects.

The purpose of this group is to obtain information for controlling the movement and force interaction of the robot with the external environment.

• Movement sensors (absolute and relative): the angle between the links of the manipulator, the angle of rotation of the wheels.
• Speed ??sensors: wheel speed.
• Gyroscopes: angular velocities.
• Accelerometers: Acceleration.

3.2.2 Sensors. The second group

Systems that determine the individual physico-chemical properties of the environment.

The purpose of this group is to obtain information about the external environment, ease of processing and unambiguous interpretation.

• Position sensors: the presence or absence of an object (contact, contactless). Contactless are often based on an optical pair: LED and phototransistor.
• Rangefinders: sonars, laser rangefinders.
• Sound sensors.
• Light and light sensors.

Temperature, Humidity, Resistance, etc.

3.2.3 Sensors. The third group

Systems that give a general picture of the environment.

The purpose of this group is to obtain the most complete amount of information about the external environment, difficulties with processing and interpretation.

• Video cameras.
• Spatial scanners (a laser range finder scanning a raster).
• Thermal Imaging.
• "Artificial Leather"

Based on the review, it was determined that the mobile robot will use ultrasonic sensors as a subsystem.

3.3 Robot Control Techniques

3.3.1 Biotechnical

Robot control is the organization of the actions of a robotic system with respect to established tasks, taking into account systems, subsystems and software.

Control methods are classified by type as follows.

Biotechnical control systems. A category in which the robot arm accurately copies the movement of the operator’s hand. Convenience lies in the fact that the human operator can be at a sufficiently large distance from the work area, where he may be in danger of various levels (low, medium, high).

• command (push-button and lever control of individual links of the robot);
• copying (repetition of human movement, possible implementation of feedback, transmitting the applied force, exoskeletons);
• semi-automatic (control of one command body, for example, the handle of the entire kinematic scheme of the robot) [ 9 ].

3.3.2 Automatic

Automatic control systems (SU). These are those who are able to work without human intervention. The main advantage of automatic systems is that with cyclical, continuous operation, they have higher rates of operation, in contrast to systems controlled by the operator.

• software (they function according to a predetermined program, mainly intended for solving repetitive tasks in unchanged environmental conditions);
• adaptive (they solve typical tasks, but adapt to the conditions of functioning);
• intelligent (most advanced automated systems) [ 9 ].

3.3.3 Interactive

Interactive management methods. These are “hybrid” SUs, which most of the time work as automatic SUs, but, if necessary, can be instantly switched to controlling a person, or people and automation work alternately. A distinctive feature of such systems is that the operator can give commands with voice, text. In such systems, the robot can perform work in stages: the robot will not proceed to the next stage until it receives a command-permission from the operator.

• automated (alternation of automatic and biotech modes is possible);
• supervisory (automatic systems in which a person performs only target indication functions);
• conversational (the robot participates in a dialogue with a person on the choice of behavior strategy, while usually the robot is equipped with an expert system that is able to predict the results of manipulations and gives advice on choosing a goal).

Among the main tasks of robot control are such

• position planning;
• motion planning;
• planning forces and moments;
• dynamic accuracy analysis;
• Identify the kinematic and dynamic characteristics of the robot [ 9 ].

Findings

The main classes of robots were identified, existing solutions for each class are given. The most important systems, subsystems of robotic machines were studied. Based on this analysis, further work will be done on the description of the main components of a mobile robot, the mathematical apparatus and, as a result, a working prototype.

When writing this essay, the master's work is not yet completed. Final Completion: May 2019. Full text of the work and materials on the topic can be obtained from the author or his manager after the specified date.

References

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3. Компания Segway USA [Электронный ресурс].- Режим доступа: http://segway-usa.ru/segway-history.php
4. NASA’s robot Urbie [Электронный ресурс]. – Режим доступа: https://www.nasa.gov/ ...
5. ASIMO Honda [Электронный ресурс]. – Режим доступа: http://asimo.honda.com/
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9. Орлов И.А. Синтез движения манипуляционных систем для пространств со сложными связями и ограничениями: дис. к. физ-мат. н. Москва, 2013