Ilabhoratri yerobhothi ivulwe kwiYunivesithi ye-ITMO ngokwesiseko seSebe leeNkqubo zoLawulo kunye neNkcazo (CS&I). Siza kukuxelela malunga neeprojekthi abasebenza kuzo ngaphakathi kweendonga zayo kwaye sikubonise izixhobo: ii-robotic manipulators zamashishini, izixhobo zokubamba iirobhothi, kunye nofakelo lokuvavanya iinkqubo zokumisa eziguquguqukayo usebenzisa imodeli yerobhothi yomkhumbi ongaphezulu.
U buchule
ILabhoratri yeRobhothi yeyesebe elidala leYunivesithi ye-ITMO, ebizwa ngokuba "IiNkqubo zoLawulo kunye ne-Informatics". Yavela ngowe-1945. I-laboratory ngokwayo yasungulwa ngo-1955 - ngelo xesha yayijongene nemiba ye-automation yemilinganiselo kunye nokubalwa kweeparitha zemikhumbi yomhlaba. Kamva, uluhlu lweendawo lwandiswa: i-cybernetics, i-CAD, kunye ne-robotics zongezwa.
Namhlanje i-laboratory isebenza ekuphuculeni iirobhothi zamashishini. Abasebenzi bajongana nemiba enxulumene nokusebenzisana komatshini-ukuphuhlisa i-algorithms yokulawula ekhuselekileyo elawula amandla e-robot, kunye nokusebenza kwiirobhothi ezisebenzisanayo ezinokwenza imisebenzi kunye nabantu.
Ilabhoratri ikwaphuhlisa ezinye iindlela zolawulo olukude lwamaqela eerobhothi kunye nokudala i-algorithms yesoftware enokuthi iqwalaselwe kwakhona ukwenza imisebenzi emitsha kwi-intanethi.
Iiprojekthi
Inani leenkqubo zerobhothi elabhoratri zathengwa kwiinkampani ezinkulu kwaye zenzelwe uphando okanye iinjongo zoshishino. Ezinye zezixhobo zenziwe ngabasebenzi njengenxalenye yophando kunye nomsebenzi wophuhliso.
Phakathi kokugqibela sinokugqamisa ngamanqanaba amabini enkululeko. Ufakelo lwezemfundo luyilelwe ukuvavanya iialgorithms zolawulo lokugcina ibhola embindini wenkundla (ungabona inkqubo isebenza kwi ).
I-robotic complex ine-platform ye-rectangular kunye ne-substrate ye-resistive sensor emisela ulungelelwaniso lwebhola. I-drive shafts iqhotyoshelwe kuyo ngokusebenzisa i-swivel joint. Ezi drives zitshintsha i-engile yeqonga ngokwemiqondiso yolawulo efunyenwe kwikhompyuter nge-USB kwaye ithintele ibhola ekuqengqelekeni.
I-complex ine-servos ezongezelelweyo ezijongene nokubuyisela ukuphazamiseka. Ukusebenzisa ezi drives, abasebenzi baselabhoratri baye baphuhlisa iindlela ezikhethekileyo "ezigudisayo" iintlobo ezahlukeneyo zokuphazamiseka, ezifana nokungcangcazela okanye umoya.
Ukongeza, ipaki yeerobhothi ilebhu ibandakanya indawo yophando KUKA wenaBot, eyi-five-link robotic manipulator efakwe kwiqonga elihambahambayo elinamavili omnidirectional.
Ii-algorithms zavavanywa kwirobhothi ye-KUKA youBot . Basebenzisa inkqubo yombono esekwe kwikhamera yedijithali kunye neenkqubo zevidiyo. Isiseko sale projekthi luphando kwinkalo yolawulo oluguquguqukayo lweenkqubo ezingezizo eziqhutywa ngabasebenzi baselabhoratri.
Ulawulo lwe-algorithms lusetyenziselwa ukuhlawulela iimpembelelo zangaphandle ezisebenza kwiikhonkco zerobhothi. Ngenxa yoko, umatshini uyakwazi ukubamba isixhobo sokusebenza kwindawo emiselweyo kwindawo kwaye uyishukumise ngokuthe chu kwindlela enikiweyo.
Umzekelo weprojekthi ephunyeziweyo ngokwesiseko serobhothi ye-KUKA youBot yi . Kanye kunye nenkampani yaseBrithani i-TRA Robotics, siye saqulunqa i-algorithm evumela ukuba sivavanye amandla okunxibelelana kwesixhobo sokusebenza kunye nokusingqongileyo ngaphandle kweenzwa ze-torque ezibizayo. Oku kwavumela irobhothi ukuba yenze imisebenzi enzima ngakumbi ngaphandle koncedo lweenkqubo zangaphandle.
Omnye umzekelo wokusekwa kwerobhothi kwilabhoratri yiseli FESTO Robot Vision Cell. Le complex isetyenziselwa imisebenzi yezobuchwepheshe kwimveliso, umzekelo welding. Ukuphumeza imeko enjalo, umsebenzi wokucwangciswa kwentshukumo ubekiwe: isixhobo esifanisiweyo se-welding sijikeleza i-contour yecandelo lensimbi.
Ukongeza, iseli ixhotyiswe ngenkqubo yombono wobugcisa kwaye iyakwazi ukusombulula iingxaki zokuhlela amalungu ngombala okanye imilo.
Iprojekthi, eqhutywe ngesiseko se-FESTO Robot Vision Cell kunye ne-robot ye-Mitsubishi RV-3SDB yoshishino, isombulula iingxaki zokucwangcisa ukunyakaza.
Inceda ukwenza lula intsebenziswano yomsebenzisi kunye nomlawuli werobhothi xa ucwangcisa iitrajectories ezinzima. Umbono kukucwangcisa ngokuzenzekelayo iintshukumo zesixhobo serobhothi usebenzisa iicontours eziboniswe kumzobo we-raster. Kwanele ukulayisha ifayile kwisistim, kwaye i-algorithm iya kulungelelanisa ngokuzimeleyo amanqaku okubhekisela ayimfuneko kwaye iqulunqe ikhowudi yeprogram.
Enyanisweni, isisombululo esisiphumo singasetyenziselwa ukukrola okanye ukudweba.
Sinayo kwitshaneli yethu , apho "i-robot artist" yethu ibonise umfanekiso we-A. S. Pushkin. Itekhnoloji ingasetyenziselwa ukuwelda iinxalenye zeemilo ezinzima. Ngokwenyani, le yinkimbinkimbi yerobhothi esombulula iingxaki zoshishino kwiimeko zaselabhoratri.
Ilabhoratri ikwanayo neminwe emithathu yokubamba exhotyiswe ngeenzwa zoxinzelelo ezibekwe kwindawo engaphakathi yeminwe.
Isixhobo esinjalo sivumela ukuguqulwa kwezinto ezinqabileyo xa kubalulekile ukulawula ngokuchanekileyo amandla okubamba ukuphepha umonakalo.
Ilabhoratri inalo imodeli yerobhothi yomkhumbi ongaphezulu, ejoliswe ekuvavanyeni iinkqubo zokumisa eziguquguqukayo.
Imodeli ixhotyiswe ngee-actuator ezininzi, kunye ne-hardware yonxibelelwano yerediyo yokuhambisa iimpawu zokulawula.
Kukho ichibi lokuqubha kwibhubhoratri apho kuvavanywa ukusebenza kwe-algorithms yokulawula ngembuyekezo yokufuduswa kweelongitudinal kunye nezinqamlezileyo.
Okwangoku, izicwangciso ziyaqhubeka ukuququzelela ichibi elikhulu ukwenza iimvavanyo ezinkulu ezineemeko ezinzima.
Ukusebenza kunye namaqabane kunye nezicwangciso
Elinye lamaqabane ethu yinkampani yaseBritane iTRA Robotics. Sikunye thina ekuphuculeni ii-algorithms zokulawula iirobhothi zoshishino kwishishini lokuvelisa idijithali. Kwishishini elinjalo, wonke umjikelo wemveliso: ukusuka kuphuhliso ukuya kwimveliso yeemveliso zamashishini, uya kwenziwa ziirobhothi kunye neenkqubo ze-AI.
Amanye amahlakani aquka inkxalabo ye-Elektropribor, kunye nathi Iinkqubo ze-mechatronic kunye ne-robotic. Abafundi bethu banceda abasebenzi benkxalabo kwinkalo yezixhobo, uphuhliso lwesoftware kunye nemisebenzi yemveliso.
Nathi ngokunjalo kunye noGeneral Motors, iirobhothi kunye ne-InfoWatch. Kwakhona, abasebenzi baselabhoratri banxibelelana ngokusondeleyo nenkampani , ephumeza iiprojekthi zokuphuhlisa iinkqubo zokumisa eziguqukayo kwimikhumbi engaphezulu.
Isebenza kwiYunivesithi ye-ITMO , apho abantwana besikolo balungiselela ukhuphiswano olukumgangatho wehlabathi. Umzekelo, ngo-2017 iqela lethu I-World Robot Olympiad eCosta Rica, kunye nehlobo lika-2018 abafundi bethu amabhaso amabini kwi-All-Russian Olympiad kubantwana besikolo.
Siyiyo ukutsala amaqabane amaninzi kwishishini kwaye ufundise isizukulwana esincinci sezazinzulu zaseRussia. Mhlawumbi baya kuphuhlisa iirobhothi eziza kuhambelana nehlabathi lomntu kwaye ziya kwenza imisebenzi yesiqhelo kunye neyingozi kumashishini.
Ukhenketho lweefoto kwezinye iilabhoratri zeYunivesithi ye-ITMO:
umthombo: www.habr.com