A laboratory of robotics has been opened at ITMO University on the basis of the Department of Control Systems and Informatics (CS&I). We will talk about the projects that are being worked on within its walls and show the tools: industrial robotic manipulators, robotic grippers, as well as an installation for testing dynamic positioning systems using a robotic model of a surface vessel.
Specialization
The Robotics Lab belongs to the oldest department at ITMO University, which is called Control Systems and Informatics. She appeared in 1945. The laboratory itself was launched in 1955 - then it dealt with the automation of measurements and calculations of the parameters of surface ships. Later, the range of areas was expanded: cybernetics, CAD, and robotics were added.
Today, the laboratory is engaged in the improvement of industrial robots. Employees solve issues related to human-machine interaction - develop safe control algorithms with robot force control, and also work on collaborative robots that can perform tasks side by side with people.
Also, the laboratory is developing alternative methods for remote control of groups of robots and creating software algorithms that can be reconfigured to perform new tasks online.
Projects
A number of laboratory robotic systems are purchased from large companies and are intended for research or industrial purposes. Part of the equipment was manufactured by employees as part of research and development work.
Of the latter, one can distinguish with two degrees of freedom. The academic installation is designed to test control algorithms for keeping the ball in the center of the site (you can see the system in action in ).
The robotic complex consists of a rectangular platform with a resistive sensor substrate that determines the coordinates of the ball. The drive shafts are attached to it with the help of a swivel joint. These drives change the angle of the platform according to the control signals coming from the computer via USB and do not allow the ball to roll away.
The complex has additional servo drives that are responsible for compensating disturbances. For the operation of these drives, the laboratory staff developed special algorithms that “smooth out” various kinds of interference, such as vibrations or wind.
In addition, the robot park of the laboratory has a research facility. KUKA youBot, which is a five-link robotic arm mounted on a mobile platform with omnidirectional wheels.
Algorithms were tested on the KUKA youBot robot . They use a digital camera-based vision system and video processing procedures. The basis of this project is research in the field of adaptive control of nonlinear systems, carried out by the laboratory staff.
Control algorithms are used to compensate for external influences acting on the robot links. As a result, the machine is able to hold the working tool at a fixed point in space and move it steadily along a given trajectory.
An example of a project implemented on the basis of the KUKA youBot robot is . Together with the British company TRA Robotics, we have developed an algorithm that allows us to estimate the force of interaction of a working tool with the environment without expensive torque sensors. This allowed the robot to perform more complex operations without resorting to external systems.
Another example of a robotic setup in a laboratory is a cell FESTO Robot Vision Cell. This complex is used for technological operations in production, such as welding. To implement such a scenario, the task of motion planning is posed: an imitation welding tool bypasses the contour of a metal part.
In addition, the cell is equipped with a vision system and is able to solve the problem of sorting parts by color or shape.
The project, based on the FESTO Robot Vision Cell with an industrial robot Mitsubishi RV-3SDB, solves the problems of motion planning.
It helps to simplify the process of interaction between the operator and the robot controller when programming complex trajectories. The idea is to automatically program the movements of the robot tool using the contours shown in the bitmap. It is enough to upload a file to the system, and the algorithm will independently place the necessary reference points and compose the program code.
In practice, the resulting solution can be applied to engraving or drawing.
We have on the channel , in which our "robot-artist" depicted a portrait of A. S. Pushkin. Also, the technology can be used for welding parts of complex shape. In fact, this is a robotic complex that solves industrial problems in the laboratory.
The laboratory also has a three-fingered gripper equipped with pressure sensors located on the inner surface of the fingers.
Such a device allows the manipulation of fragile objects, when it is important to precisely control the gripping force in order to avoid damage.
The laboratory has robotic surface ship model, which is designed to test dynamic positioning systems.
The model is equipped with several actuators, as well as radio communication hardware for transmitting control signals.
There is a swimming pool in the laboratory, where the performance of control algorithms is checked with compensation of longitudinal and transverse displacements.
At present, it is planned to organize a large pool for large-scale tests with complicated scenarios.
Work with partners and plans
One of our partners is the British company TRA Robotics. Together we on the improvement of control algorithms for industrial robots for a digital production enterprise. At such an enterprise, the entire production cycle, from development to manufacturing of industrial products, will be performed by robots and AI systems.
Among other partners is the Elektropribor concern, together with which we mechatronic and robotic systems. Our students help the group's employees with instrumentation, software development and production tasks.
We also with General Motors robotics together with InfoWatch. Also, laboratory staff closely interact with the company. , which implements projects to develop dynamic positioning systems for surface vessels.
Works at ITMO University where students prepare for world-class competitions. For example, in 2017 our team World Robot Olympiad in Costa Rica, and in the summer of 2018 our students two prizes at the All-Russian Olympiad for schoolchildren.
Мы attract more industry partners and educate the younger generation of Russian scientists. Perhaps it is they who will develop such robots that will organically complement the human world and will perform more routine and dangerous tasks in enterprises.
Photo tours of other laboratories of ITMO University:
Source: habr.com