Ilabhorethri yamarobhothi ivulwe eNyuvesi ye-ITMO ngesisekelo soMnyango Wezinhlelo Zokulawula kanye Nemininingwane (CS&I). Sizokhuluma ngamaphrojekthi asetshenzwayo ngaphakathi kwezindonga zayo futhi sibonise amathuluzi: ama-robotic manipulators ezimbonini, ama-robotic grippers, kanye nokufakwa kokuhlola amasistimu wokuma ashukumisayo kusetshenziswa imodeli yerobhothi yomkhumbi ongaphezulu.
Ubuchwepheshe
I-Robotics Lab ingeyomnyango omdala kunayo yonke eNyuvesi ye-ITMO, obizwa ngokuthi Amasistimu Wokulawula kanye ne-Informatics. Wavela ngo-1945. I-laboratory ngokwayo yethulwa ngo-1955 - yabe isibhekana nokuzenzekelayo kwezilinganiso kanye nokubalwa kwemingcele yemikhumbi engaphezulu. Kamuva, ububanzi bezindawo banwetshwa: i-cybernetics, i-CAD, namarobhothi angeziwe.
Namuhla, ilabhorethri ibambe iqhaza ekuthuthukiseni amarobhothi ezimboni. Izisebenzi zixazulula izinkinga ezihlobene nokusebenzelana komshini womuntu - thuthukisa ama-algorithms okulawula okuphephile ngokulawula amandla erobhothi, futhi ziphinde zisebenze kumarobhothi asebenzisanayo angenza imisebenzi eceleni kwabantu.
Futhi, ilabhorethri ithuthukisa ezinye izindlela zokulawula kude kwamaqembu amarobhothi futhi idale ama-algorithms esoftware angahlelwa kabusha ukuze enze imisebenzi emisha ku-inthanethi.
Amaphrojekthi
Inqwaba yezinhlelo zamarobhothi zaselabhorethri zithengwa ezinkampanini ezinkulu futhi zenzelwe izinjongo zocwaningo noma zezimboni. Ingxenye yamathuluzi yakhiwe ngabasebenzi njengengxenye yomsebenzi wocwaningo nokuthuthukiswa.
Kulokhu kokugcina, umuntu angahlukanisa ngamazinga amabili enkululeko. Ukufakwa kwezemfundo kuklanyelwe ukuhlola ama-algorithms okulawula ukugcina ibhola phakathi nendawo yesayithi (ungabona isistimu isebenza ).
I-robotic complex iqukethe iplathifomu engunxande enenzwa engaphansi yenzwa enquma izixhumanisi zebhola. Ama-drive shafts anamathiselwe kuwo ngosizo lokuhlangana okujikelezayo. Lawa madrayivu ashintsha i-engeli yesikhulumi ngokuya ngamasignali okulawula avela kukhompyutha nge-USB futhi awavumeli ibhola ukuthi lisuke.
I-complex inamadrayivu e-servo engeziwe anesibopho sokunxephezela ukuphazamiseka. Ukuze kusetshenziswe la madrayivu, izisebenzi zaselabhorethri zakha ama-algorithms akhethekile “ashelelayo” izinhlobo ezihlukahlukene zokuphazamiseka, njengokudlidliza noma umoya.
Ngaphezu kwalokho, ipaki yamarobhothi yaselabhorethri inesikhungo sokucwaninga. KUKA wenaBot, okuyingalo yerobhothi enezixhumanisi ezinhlanu egibele inkundla yeselula enamasondo omnidirectional.
Ama-algorithms ahlolwe irobhothi le-KUKA youBot . Basebenzisa uhlelo lombono olususelwa kukhamera yedijithali kanye nezinqubo zokucubungula ividiyo. Isisekelo sale phrojekthi wucwaningo emkhakheni wokulawula okuguquguqukayo kwezinhlelo ezingezona umugqa, olwenziwa abasebenzi baselabhorethri.
Ama-algorithms okulawula asetshenziselwa ukunxephezela amathonya angaphandle asebenza kuzixhumanisi zamarobhothi. Ngenxa yalokho, umshini uyakwazi ukubamba ithuluzi lokusebenza endaweni engaguquki esikhaleni bese ulihambisa kancane endleleni ethile.
Isibonelo sephrojekthi eyenziwe ngesisekelo serobhothi le-KUKA youBot . Kanye nenkampani yaseBrithani i-TRA Robotics, senze i-algorithm esivumela ukuthi silinganise amandla okuxhumana phakathi kwethuluzi lokusebenza kanye nemvelo ngaphandle kwezinzwa ze-torque ezibizayo. Lokhu kwavumela irobhothi ukuthi lenze imisebenzi eyinkimbinkimbi ngaphandle kokusebenzisa izinhlelo zangaphandle.
Esinye isibonelo sokusethwa kwerobhothi elabhorethri iseli I-FESTO Robot Vision Cell. Le nkimbinkimbi isetshenziselwa imisebenzi yezobuchwepheshe ekukhiqizeni, njenge-welding. Ukuze kusetshenziswe isimo esinjalo, kwenziwa umsebenzi wokuhlela ukunyakaza: ithuluzi lokulingisa le-welding lidlula i-contour yengxenye yensimbi.
Ngaphezu kwalokho, ingqamuzana ifakwe uhlelo lombono futhi iyakwazi ukuxazulula inkinga yokuhlunga izingxenye ngombala noma ukuma.
Le phrojekthi, esekelwe ku-FESTO Robot Vision Cell enerobhothi lezimboni le-Mitsubishi RV-3SDB, ixazulula izinkinga zokuhlela ukunyakaza.
Kuyasiza ukwenza lula inqubo yokusebenzisana phakathi komsebenzisi nesilawuli serobhothi lapho kuhlelwa ama-trajectories ayinkimbinkimbi. Umqondo uwukuhlela ngokuzenzakalelayo ukunyakaza kwethuluzi lerobhothi usebenzisa amakhonco aboniswe ku-bitmap. Kwanele ukulayisha ifayela ohlelweni, futhi i-algorithm izobeka ngokuzimela amaphuzu okubhekisela adingekayo futhi ibhale ikhodi yohlelo.
Ngokwenza, isixazululo esiphumela singasetshenziswa ekuqoshweni noma ekudwebeni.
Sinawo esiteshini , lapho "i-robot-artist" yethu ibonise isithombe sika-A. S. Pushkin. Futhi, ubuchwepheshe bungasetshenziselwa izingxenye zokushisela zomumo oyinkimbinkimbi. Eqinisweni, lokhu kuyinkimbinkimbi yerobhothi exazulula izinkinga zezimboni elabhorethri.
Ilabhorethri iphinde ibe nento yokubamba eneminwe emithathu efakwe izinzwa zokucindezela etholakala endaweni engaphakathi yeminwe.
Umshini onjalo uvumela ukuxhashazwa kwezinto ezibuthakathaka, lapho kubalulekile ukulawula ngokunembile amandla okubamba ukuze ugweme umonakalo.
Ilabhorethri inakho imodeli yomkhumbi we-robotic, eklanyelwe ukuhlola amasistimu wokumisa ashukumisayo.
Imodeli ifakwe ama-actuator amaningana, kanye ne-hardware yokuxhumana yomsakazo yokudlulisa amasignali okulawula.
Kukhona ichibi lokubhukuda elabhorethri, lapho kuhlolwa ukusebenza kwama-algorithms okulawula ngesinxephezelo sokugudluzwa kwe-longitudinal kanye nama-transverse.
Njengamanje, kuhlelwe ukuhlela ichibi elikhulu lezivivinyo ezinkulu ezinezimo eziyinkimbinkimbi.
Sebenza nozakwethu nezinhlelo
Omunye wabalingani bethu yinkampani yaseBrithani i-TRA Robotics. Sisonke ekuthuthukiseni ama-algorithms okulawula amarobhothi ezimboni ebhizinisi lokukhiqiza ledijithali. Ebhizinisini elinjalo, wonke umjikelezo wokukhiqiza, kusukela ekuthuthukisweni kuya ekukhiqizeni imikhiqizo yezimboni, uzokwenziwa amarobhothi nezinhlelo ze-AI.
Phakathi kwabanye ozakwethu kukhona ukukhathazeka kwe-Elektropribor, kanye nathi amasistimu we-mechatronic namarobhothi. Abafundi bethu basiza abasebenzi beqembu ngezinsimbi, ukuthuthukiswa kwesofthiwe nemisebenzi yokukhiqiza.
Nathi futhi neGeneral Motors amarobhothi kanye ne-InfoWatch. Futhi, abasebenzi baselabhorethri baxhumana eduze nenkampani. , esebenzisa amaphrojekthi ukuthuthukisa izinhlelo eziguqukayo zokumisa imikhumbi engaphezulu.
Usebenza e-ITMO University lapho abafundi belungiselela imiqhudelwano esezingeni lomhlaba. Isibonelo, ngo-2017 ithimba lethu I-World Robot Olympiad e-Costa Rica, futhi ehlobo lika-2018 abafundi bethu imiklomelo emibili e-All-Russian Olympiad yezingane zesikole.
We ukuheha abalingani abaningi bezimboni futhi ufundise isizukulwane esisha sososayensi baseRussia. Mhlawumbe yibo abazothuthukisa amarobhothi anjalo azohambisana nezwe labantu futhi azokwenza imisebenzi evamile neyingozi emabhizinisini.
Ukuvakasha kwezithombe kwamanye amalabhorethri e-ITMO University:
Source: www.habr.com