МОДЕЛЬ ТА МЕТОД СТАБІЛІЗАЦІЇ ОДНОВІСНОЇ ПЛАТФОРМИ ДЛЯ БАГАТОФУНКЦІОНАЛЬНОЇ КООПЕРАТИВНОЇ РОБОТОТЕХНІЧНОЇ СИСТЕМИ
MODEL AND METHOD OF STABILIZATION OF THE SINGLE-AXIS PLATFORM FOR A MULTI-FUNCTIONAL COOPERATIVE ROBOTIC SYSTEM
Сторінки: 47-50. Номер: №2, 2020 (283)
Автори:
Т.О. ГОВОРУЩЕНКО, М.В. КРАСОВСЬКИЙ, А.А. ЯВНЮК
Хмельницький національний університет
T.O. HOVORUSHCHENKO, M.V. KRASOVSKYI, A.A. YAVNYUK
Khmelnytskyi National University
DOI: https://www.doi.org/10.31891/2307-5732-2020-283-2-47-50
Рецензія/Peer review : 15.05.2020 р.
Надрукована/Printed : 16.6.2020 р.
Анотація мовою оригіналу
Проведений аналіз відомих методів та рішень в галузі кооперативної робототехніки свідчить про те, що наразі все ж залишається велика кількість невирішених питань в цій галузі, зокрема, стабілізація одновісної платформи, що і є метою даного дослідження. В статті розроблено модель стабілізації одновісної платформи за допомогою PID-алгоритму в пакеті MATLAB Simulink. Розроблено також метод дослідження якості алгоритмів стабілізації одновісної платформи.
Ключові слова: кооперативний робот, багатофункціональна кооперативна робототехнічна система, одновісна платформа, алгоритм стабілізації.
Розширена анотація англійською мовою
The conducted analysis of known methods and solutions in the field of cooperative robotics shows that there are still a large number of unresolved issues in this area, in particular, the stabilization of the single-axis platform, which is the purpose of this study. Cooperative robotics is a new branch of industrial robotics that enables joint production. Cooperative production largely depends on the availability of cooperative robot. The creation of cooperative robots that work in close contact with humans is a direction that is rapidly developing. Cooperative application, natural for such tasks, should provide absolute safety, high functional flexibility and autonomy of the robots used. This requires the development of new technologies in the field of management, the creation of new design solutions, the development of algorithms for planning and execution of movements that ensure the safety of physical interaction between man and robot. Given that the market for cooperative robots is projected to reach $ 12,303 million by 2025 from $ 710 million in 2018, i.e. will increase by 50.31% during 2018-2025, the urgent task now is to develop a multifunctional cooperative robotic system or technology. The analysis of known methods and solutions in the field of cooperative robotics shows that there are still a large number of unresolved issues in this area, in particular, the stabilization of the single-axis platform. The paper develops a model for stabilizing a single-axis platform using the PID algorithm in the MATLAB Simulink, which allows fine-tuning additional parameters of a single-axis platform and optimizing transients, which emerge due to external factors that negatively affect the real prototype. A method for studying the quality of a single-axis platform stabilization algorithms has also been developed, as a result of which graphs are constructed for each of a single-axis platform stabilization algorithms, according to which the quality of the stabilization algorithm can be analytically determined – each graph is compared to others, the lower and narrower graph indicates more quality algorithm of stabilization of a single-axis platform.
Keywords: cooperative robot, multifunctional cooperative robotic system, single-axis platform, stabilization algorithm.
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