Rabhoritari yemarobhoti yakavhurwa paITMO University pahwaro hweDhipatimendi reDzidzo Systems uye Informatics (CS&I). Isu tichataura nezve mapurojekiti ari kushandirwa mukati memadziro ayo uye kuratidza maturusi: maindasitiri marobhoti manipulators, marobhoti grippers, pamwe nekumisikidzwa kwekuyedza dynamic positioning masisitimu uchishandisa irobhoti modhi yechikepe chepamusoro.
Specialization
Iyo Robotics Lab ndeyedhipatimendi rekare paITMO University, inodaidzwa kuti Control Systems uye Informatics. Akaonekwa muna 1945. Iyo laboratori pachayo yakatangwa muna 1955 - ipapo yakabata ne automation yezviyero uye maverengero emaparamita ezvikepe zvepasi. Gare gare, huwandu hwenzvimbo hwakawedzerwa: cybernetics, CAD, uye marobhoti akawedzerwa.
Nhasi, marabhoritari ari kuita kuvandudzwa kwemaindasitiri marobhoti. Vashandi vanogadzirisa nyaya dzine chekuita nekudyidzana kwevanhu-muchina - gadzira algorithms akachengeteka ane robhoti simba rekutonga, uye zvakare shanda pamarobhoti akabatana anogona kuita mabasa padivi nevanhu.
Zvakare, marabhoritari iri kugadzira dzimwe nzira dzekudzora kure kwemapoka emarobhoti uye kugadzira maalgorithms esoftware anogona kugadziridzwa kuita mabasa matsva online.
Zvirongwa
A akati wandei erabhoritari marobhoti masisitimu anotengwa kubva kumakambani makuru uye anoitirwa kutsvagisa kana maindasitiri. Chikamu chemidziyo chakagadzirwa nevashandi sechikamu chekutsvaga nekusimudzira basa.
Pakati pekupedzisira, munhu anogona kusiyanisa nemadhigirii maviri erusununguko. Iyo yekumisikidza yedzidzo yakagadzirirwa kuyedza kutonga algorithms yekuchengeta bhora pakati pesaiti (iwe unogona kuona sisitimu ichishanda mu ).
Iyo robhoti yakaoma ine rectangular chikuva ine resistive sensor substrate iyo inosarudza kurongeka kwebhora. Iyo dhiraivha shafts yakasungirirwa pairi nerubatsiro rwekutenderera. Aya madhiraivha anoshandura kona yepuratifomu zvinoenderana nemasaini ekudzora anouya kubva pakombuta kuburikidza ne USB uye haatenderi bhora kukunguruka.
Iyo yakaoma ine yakawedzera servo madhiraivha ayo ane basa rekubhadhara kukanganisa. Pakushanda kwemadhiraivha aya, vashandi vemurabhoritari vakagadzira algorithms "anopfavisa" marudzi akasiyana-siyana ekuvhiringidza, akadai sekudengenyeka kana mhepo.
Uye zvakare, iro robhoti paki yerabhoritari ine nzvimbo yekutsvagisa. KUKA iweBot, inova shanu-link robhoti ruoko rwakaiswa panharembozha ine omnidirectional mavhiri.
Algorithms akaedzwa paKUKA youBot robhoti . Ivo vanoshandisa dhijitari kamera-based vision system uye vhidhiyo yekugadzirisa maitiro. Hwaro hwepurojekiti iyi ndeyekutsvagisa mumunda wekugadzirisa kudzora kweasina mutsara masisitimu, anoitwa nevashandi ve laboratori.
Kudzora algorithms anoshandiswa kutsiva ekunze pesvedzero inobata pane marobhoti link. Nekuda kweizvozvo, muchina unokwanisa kubata chishandiso chekushanda panzvimbo yakatarwa munzvimbo uye nekuchifambisa zvakadzikama munzira yakapihwa.
Muenzaniso wepurojekiti yakaitwa pahwaro hweKUKA youBot robhoti iri . Pamwe chete nekambani yeBritish TRA Robotics, takagadzira algorithm inotibvumira kuenzanisa simba rekubatana pakati pechishandiso chekushanda uye nharaunda pasina inodhura torque sensors. Izvi zvakabvumira robhoti kuita mamwe mabasa akaomarara pasina kushandisa masystem ekunze.
Mumwe muenzaniso werobhoti setup murabhoritari sero FESTO Robot Vision Cell. Iyi yakaoma inoshandiswa tekinoroji mashandiro mukugadzira, senge welding. Kuti uite mamiriro ezvinhu akadaro, basa rekugadzirisa kufamba rinoitwa: yekutevedzera welding tool inodarika contour yechikamu chesimbi.
Pamusoro pezvo, sero rakashongedzerwa nehurongwa hwekuona uye rinokwanisa kugadzirisa dambudziko rekugadzirisa zvikamu nemuvara kana chimiro.
Iyo purojekiti, yakavakirwa paFESTO Robot Vision Cell ine robhoti yeindasitiri Mitsubishi RV-3SDB, inogadzirisa matambudziko ekuronga mafambiro.
Inobatsira kurerutsa maitiro ekudyidzana pakati peanoshanda uye mutongi werobhoti kana hurongwa hwakaoma trajectories. Pfungwa ndeyekuronga otomatiki mafambiro echishandiso cherobhoti uchishandisa macontours anoratidzwa mubitmap. Zvakakwana kurodha faira kune sisitimu, uye iyo algorithm ichazvimiririra inoisa inodiwa mareferenzi mapoinzi uye kunyora iyo purogiramu kodhi.
Mukuita, mhinduro inoguma inogona kuiswa kune engraving kana kudhirowa.
Tine pachiteshi , umo "robot-artist" yedu yakaratidza mufananidzo weA. S. Pushkin. Zvakare, iyo tekinoroji inogona kushandiswa kune welding zvikamu zvechimiro chakaoma. Muchokwadi, iyi irobhoti yakaoma inogadzirisa matambudziko eindasitiri murabhoritari.
Murabhoritari zvakare ine zvigunwe zvitatu zvekubatisa zvakashongedzerwa nepressure sensors inowanikwa mukati mezvigunwe.
Chigadzirwa chakadaro chinobvumira kushandiswa kwezvinhu zvisina kusimba, kana zvakakosha kunyatso kudzora simba rekubata kuitira kuti udzivise kukanganisa.
Murabhoritari ine robotic pamusoro pechikepe modhi, iyo yakagadzirirwa kuedza dynamic positioning systems.
Iyo modhi inoshongedzerwa akati wandei actuators, pamwe neredhiyo yekutaurirana Hardware yekutumira masaini ekudzora.
Kune dziva rekushambira murabhoritari, uko kuita kwekutonga algorithms kunotariswa nemubhadharo wekusimuka kwelongitudinal uye transverse displacements.
Parizvino, zvakarongwa kuronga dziva rakakura rebvunzo dzakakura dzine mamiriro akaomarara.
Shanda nevabatsiri uye zvirongwa
Mumwe wevatinoshanda navo ikambani yeBritish TRA Robotics. Pamwe chete isu pakuvandudzwa kwekutonga maalgorithms emarobhoti eindasitiri yebhizinesi rekugadzira dijitari. Pabhizinesi rakadaro, kutenderera kwese kwekugadzira, kubva pakuvandudza kusvika pakugadzira zvigadzirwa zvemaindasitiri, kuchaitwa nemarobhoti neAI masisitimu.
Pakati pevamwe vanobatana ndeye Elektropribor kunetseka, pamwe chete nesu mechatronic uye marobhoti masisitimu. Vadzidzi vedu vanobatsira vashandi veboka nezviridzwa, kuvandudza software uye mabasa ekugadzira.
Nesuwo pamwe neGeneral Motors marobhoti pamwe chete neInfoWatch. Zvakare, vashandi vemurabhoritari vanodyidzana zvakanyanya nekambani. , iyo inoshandisa mapurojekiti ekugadzira masisitimu anochinja-chinja ezvikepe zvepasi.
Anoshanda kuITMO University uko vadzidzi vanogadzirira makwikwi epasi rose. Semuenzaniso, muna 2017 timu yedu World Robot Olympiad muCosta Rica, uye muzhizha ra2018 vadzidzi vedu mibayiro miviri paAll-Russian Olympiad yevana vechikoro.
Isu tiri kukwezva vamwe vashandi veindasitiri uye dzidzisa chizvarwa chidiki cheRussia masayendisiti. Zvichida ndivo vanozogadzira marobhoti akadaro anozobatsirana nenyika yevanhu uye achaita mamwe mabasa akajairika uye ane njodzi mumabhizinesi.
Mifananidzo kushanya kwemamwe marabhoritari eITMO University:
Source: www.habr.com