{"id":1405,"date":"2021-01-15T23:42:11","date_gmt":"2021-01-15T21:42:11","guid":{"rendered":"http:\/\/journals.khnu.km.ua\/vestnik\/?p=1405"},"modified":"2021-03-04T13:07:47","modified_gmt":"2021-03-04T11:07:47","slug":"%d0%bc%d0%be%d0%b4%d0%b5%d0%bb%d1%8c-%d1%82%d0%b0-%d0%b0%d0%bb%d0%b3%d0%be%d1%80%d0%b8%d1%82%d0%bc-%d1%80%d1%83%d1%85%d1%83-%d0%ba%d1%80%d0%be%d0%ba%d1%83%d1%8e%d1%87%d0%be%d1%97-%d0%bf%d0%bb%d0%b0","status":"publish","type":"post","link":"https:\/\/journals.khnu.km.ua\/vestnik\/?p=1405","title":{"rendered":"\u041c\u043e\u0434\u0435\u043b\u044c \u0442\u0430 \u0430\u043b\u0433\u043e\u0440\u0438\u0442\u043c \u0440\u0443\u0445\u0443 \u043a\u0440\u043e\u043a\u0443\u044e\u0447\u043e\u0457 \u043f\u043b\u0430\u0442\u0444\u043e\u0440\u043c\u0438 \u0443 \u0431\u0430\u0433\u0430\u0442\u043e\u0444\u0443\u043d\u043a\u0446\u0456\u043e\u043d\u0430\u043b\u044c\u043d\u0456\u0439 \u043a\u043e\u043e\u043f\u0435\u0440\u0430\u0442\u0438\u0432\u043d\u0456\u0439 \u0440\u043e\u0431\u043e\u0442\u043e\u0442\u0435\u0445\u043d\u0456\u0447\u043d\u0456\u0439 \u0441\u0438\u0441\u0442\u0435\u043c\u0456"},"content":{"rendered":"

\u041c\u041e\u0414\u0415\u041b\u042c \u0422\u0410 \u0410\u041b\u0413\u041e\u0420\u0418\u0422\u041c \u0420\u0423\u0425\u0423 \u041a\u0420\u041e\u041a\u0423\u042e\u0427\u041e\u0407 \u041f\u041b\u0410\u0422\u0424\u041e\u0420\u041c\u0418 \u0423 \u0411\u0410\u0413\u0410\u0422\u041e\u0424\u0423\u041d\u041a\u0426\u0406\u041e\u041d\u0410\u041b\u042c\u041d\u0406\u0419 \u041a\u041e\u041e\u041f\u0415\u0420\u0410\u0422\u0418\u0412\u041d\u0406\u0419 \u0420\u041e\u0411\u041e\u0422\u041e\u0422\u0415\u0425\u041d\u0406\u0427\u041d\u0406\u0419 \u0421\u0418\u0421\u0422\u0415\u041c\u0406<\/p>\n

MODEL AND ALGORHITM OF THE WALKING (STEPPING) PLATFORM MOVING IN THE MULTI-FUNCTIONAL COOPERATIVE ROBOTIC SYSTEM<\/p>\n

<\/a> \u0421\u0442\u043e\u0440\u0456\u043d\u043a\u0438: 21-25. \u041d\u043e\u043c\u0435\u0440: \u21163, 2020 (285)<\/strong>
\n\u0410\u0432\u0442\u043e\u0440\u0438:<\/strong>
\n\u0422. \u041e. \u0413\u041e\u0412\u041e\u0420\u0423\u0429\u0415\u041d\u041a\u041e, \u041c. \u0412. \u041a\u0420\u0410\u0421\u041e\u0412\u0421\u042c\u041a\u0418\u0419,
\n\u0412. \u0412. \u041c\u0410\u0420\u0422\u0418\u041d\u042e\u041a, \u0410. \u0410. \u042f\u0412\u041d\u042e\u041a
\n\u0425\u043c\u0435\u043b\u044c\u043d\u0438\u0446\u044c\u043a\u0438\u0439 \u043d\u0430\u0446\u0456\u043e\u043d\u0430\u043b\u044c\u043d\u0438\u0439 \u0443\u043d\u0456\u0432\u0435\u0440\u0441\u0438\u0442\u0435\u0442
\nT. HOVORUSHCHENKO, M. KRASOVSKYI, V. MARTYNYUK, A. YAVNYUK
\nKhmelnytskyi National University
\nDOI:<\/strong> https:\/\/www.doi.org\/10.31891\/2307-5732-2020-285-3-4<\/a>
\n\u0420\u0435\u0446\u0435\u043d\u0437\u0456\u044f\/Peer review :<\/strong> 21.04.2020 \u0440.
\n\u041d\u0430\u0434\u0440\u0443\u043a\u043e\u0432\u0430\u043d\u0430\/Printed :<\/strong> 02.06.2020 \u0440.<\/p>\n

\u0410\u043d\u043e\u0442\u0430\u0446\u0456\u044f \u043c\u043e\u0432\u043e\u044e \u043e\u0440\u0438\u0433\u0456\u043d\u0430\u043b\u0443<\/strong><\/p>\n

\u041f\u0440\u043e\u0432\u0435\u0434\u0435\u043d\u0438\u0439 \u0430\u043d\u0430\u043b\u0456\u0437 \u0432\u0456\u0434\u043e\u043c\u0438\u0445 \u043c\u0435\u0442\u043e\u0434\u0456\u0432 \u0442\u0430 \u0440\u0456\u0448\u0435\u043d\u044c \u0432 \u0433\u0430\u043b\u0443\u0437\u0456 \u043a\u043e\u043e\u043f\u0435\u0440\u0430\u0442\u0438\u0432\u043d\u043e\u0457 \u0440\u043e\u0431\u043e\u0442\u043e\u0442\u0435\u0445\u043d\u0456\u043a\u0438 \u0441\u0432\u0456\u0434\u0447\u0438\u0442\u044c \u043f\u0440\u043e \u0442\u0435, \u0449\u043e \u043f\u0440\u0438 \u0447\u0438\u043c\u0430\u043b\u0456\u0439 \u043a\u0456\u043b\u044c\u043a\u043e\u0441\u0442\u0456 \u0435\u0444\u0435\u043a\u0442\u0438\u0432\u043d\u0438\u0445 \u0440\u0456\u0448\u0435\u043d\u044c \u043d\u0430\u0440\u0430\u0437\u0456 \u0432 \u0433\u0430\u043b\u0443\u0437\u0456 \u0437\u0430\u043b\u0438\u0448\u0430\u0454\u0442\u044c\u0441\u044f \u0440\u044f\u0434 \u043d\u0435\u0432\u0438\u0440\u0456\u0448\u0435\u043d\u0438\u0445 \u043f\u0438\u0442\u0430\u043d\u044c, \u0437\u043e\u043a\u0440\u0435\u043c\u0430, \u0440\u0443\u0445 \u043a\u0440\u043e\u043a\u0443\u044e\u0447\u043e\u0457 \u043f\u043b\u0430\u0442\u0444\u043e\u0440\u043c\u0438.\u00a0 \u0412 \u0441\u0442\u0430\u0442\u0442\u0456 \u0440\u043e\u0437\u0440\u043e\u0431\u043b\u0435\u043d\u043e \u043c\u043e\u0434\u0435\u043b\u044c \u0440\u0443\u0445\u0443 \u043a\u0440\u043e\u043a\u0443\u044e\u0447\u043e\u0457 \u043f\u043b\u0430\u0442\u0444\u043e\u0440\u043c\u0438 \u0432 \u043f\u0430\u043a\u0435\u0442\u0456 MATLAB Simulink, \u0441\u043f\u0440\u043e\u0435\u043a\u0442\u043e\u0432\u0430\u043d\u043e \u0430\u043f\u0430\u0440\u0430\u0442\u043d\u0443 \u0456 \u043f\u0440\u043e\u0433\u0440\u0430\u043c\u043d\u0443 \u0430\u0440\u0445\u0456\u0442\u0435\u043a\u0442\u0443\u0440\u0443 \u043c\u0430\u0439\u0431\u0443\u0442\u043d\u044c\u043e\u0457 \u0440\u043e\u0431\u043e\u0442\u0438\u0437\u043e\u0432\u0430\u043d\u043e\u0457 \u0441\u0438\u0441\u0442\u0435\u043c\u0438, \u043f\u0440\u043e\u0432\u0435\u0434\u0435\u043d\u043e \u0440\u043e\u0437\u043f\u043e\u0434\u0456\u043b \u043e\u0431\u0447\u0438\u0441\u043b\u044e\u0432\u0430\u043b\u044c\u043d\u0438\u0445 \u0440\u0435\u0441\u0443\u0440\u0441\u0456\u0432 \u043f\u0440\u043e\u0433\u0440\u0430\u043c \u043a\u0435\u0440\u0443\u0432\u0430\u043d\u043d\u044f \u0442\u0430 \u043f\u043e\u0431\u0443\u0434\u043e\u0432\u0430\u043d\u043e \u0431\u043b\u043e\u043a-\u0441\u0445\u0435\u043c\u0443, \u0449\u043e \u0432\u0438\u0437\u043d\u0430\u0447\u0430\u0454 \u0437\u0430\u0433\u0430\u043b\u044c\u043d\u0438\u0439 \u0430\u043b\u0433\u043e\u0440\u0438\u0442\u043c \u0434\u0456\u0439 \u043a\u0440\u043e\u043a\u0443\u044e\u0447\u043e\u0457 \u043f\u043b\u0430\u0442\u0444\u043e\u0440\u043c\u0438. \u041e\u043f\u0438\u0441\u0430\u043d\u043e \u043e\u0441\u043d\u043e\u0432\u043d\u0456 \u0435\u043b\u0435\u043c\u0435\u043d\u0442\u0438 \u0440\u043e\u0437\u0440\u043e\u0431\u043b\u0435\u043d\u043e\u0457 \u0441\u0438\u0441\u0442\u0435\u043c\u0438 \u0442\u0430 \u043f\u043e\u0431\u0443\u0434\u043e\u0432\u0430\u043d\u043e \u0441\u0442\u0440\u0443\u043a\u0442\u0443\u0440\u043d\u0443 \u0441\u0445\u0435\u043c\u0443, \u0449\u043e \u0432\u0456\u0434\u043e\u0431\u0440\u0430\u0436\u0430\u0454 \u043e\u0441\u043d\u043e\u0432\u043d\u0456 \u0437\u0432\u2019\u044f\u0437\u043a\u0438\u00a0 \u0442\u0430 \u0432\u0437\u0430\u0454\u043c\u043e\u0434\u0456\u0457 \u043c\u0456\u0436 \u043a\u043e\u043c\u043f\u043e\u043d\u0435\u043d\u0442\u0430\u043c\u0438 \u0441\u0438\u0441\u0442\u0435\u043c\u0438.
\n\u041a\u043b\u044e\u0447\u043e\u0432\u0456 \u0441\u043b\u043e\u0432\u0430:<\/strong> \u043a\u043e\u043e\u043f\u0435\u0440\u0430\u0442\u0438\u0432\u043d\u0438\u0439 \u0440\u043e\u0431\u043e\u0442, \u0431\u0430\u0433\u0430\u0442\u043e\u0444\u0443\u043d\u043a\u0446\u0456\u043e\u043d\u0430\u043b\u044c\u043d\u0430 \u043a\u043e\u043e\u043f\u0435\u0440\u0430\u0442\u0438\u0432\u043d\u0430 \u0440\u043e\u0431\u043e\u0442\u043e\u0442\u0435\u0445\u043d\u0456\u0447\u043d\u0430 \u0441\u0438\u0441\u0442\u0435\u043c\u0430, \u043a\u0440\u043e\u043a\u0443\u044e\u0447\u0430\u00a0 \u043f\u043b\u0430\u0442\u0444\u043e\u0440\u043c\u0430.<\/p>\n

\u0420\u043e\u0437\u0448\u0438\u0440\u0435\u043d\u0430 \u0430\u043d\u043e\u0442\u0430\u0446\u0456\u044f \u0430\u043d\u0433\u043b\u0456\u0439\u0441\u044c\u043a\u043e\u044e \u043c\u043e\u0432\u043e\u044e<\/strong><\/p>\n

The analysis of known methods and solutions in the field of cooperative robotics shows that with a large number of effective solutions, there are still a number of unresolved issues in the industry, in particular, the movement of the walking (stepping) 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 cooperative robot must meet the requirements of International Standards, the main of which is the standard ISO\/TS 15066: 2016. 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 paper develops a model of the walking (stepping) platform movement in the MATLAB Simulink, designed the hardware and software architecture of the future robotic system, allocated computing resources of control programs and built a block diagram that defines the general algorithm of the walking platform. The main elements of the developed system are described and a structural diagram is constructed, which reflects the main connections and interactions between the components of the system.
\nKeywords:<\/strong> cooperative robot, multifunctional cooperative robotic system, walking (stepping) platform.<\/p>\n

\u00a0<\/em>References<\/strong><\/p>\n

    \n
  1. Innovation in robotics and safety. URL: https:\/\/controlengrussia.com\/innovatsii\/innovatsii-v-robototehnike-i-bezopasnost\/.<\/li>\n
  2. Sadik A. R. Towards a Complex Interaction Scenario in W\u043erker-cobot Reconfigurable Collaborative Manufacturing via Reactive Agent Ontology \/ S. R. Sadik, B. Urban \/\/ The 9-th International Joint Conference on Knowledge Discovery, Knowledge Engineering and Knowledge Management: Proceedings (Madeira, November 1\u20133, 2017). \u2013 Madeira (Portugal), 2017. \u2013 P. 27\u201338.<\/li>\n
  3. ISO\/TS 15066:2016. Robots and robotic devices \u2013 Collaborative robots. \u2013 [Introduced 01.06.2016]. \u2013 Geneva (Switzerland) : ISO, 2016. \u2013 38 p. \u2013 (International standard).<\/li>\n
  4. Collaborative robot market projected to grow at a CAGR of 50.31% from 2018 to 2025. URL: https:\/\/www.reportsnreports.com\/reports\/650005-collaborative-robots-market-by-payload-up-to-5-kg-up-to-10-kg-above-10-kg-application-industry-and-geography-global-forecast-to-2022.html.<\/li>\n
  5. Hovorushchenko T.O. Suchasni problemy bahatofunktsionalnykh kooperatyvnykh robototekhnichnykh system \/ T.O.\u00a0Hovorushchenko, M. V. Krasovskyi, V. V. Shamreliuk \/\/ Elektrotekhnichni ta kompiuterni systemy. \u2013 2019. \u2013 \u2116 30 (106). \u2013 S. 134\u2013146.<\/li>\n
  6. Broinl T. V. Vstrayvaem\u044be robotekhnycheskye system\u044b: proektyrovanye y prymenenye mobyln\u044bkh robotov so vstroenn\u044bmy systemamy upravlenyia \/ T. V. Broil. \u2013 Yzhevsk : YKY, 2012. \u2013 520 c.<\/li>\n
  7. Melnyk A. A. Mobyln\u044be robot\u044b kompanyy \u00abK-Team\u00bb dlia reshenyia spetsyfycheskykh tekhnycheskykh zadach \/ A. A. Melnyk, V.\u00a0F. Borysenko, V. N. Khomenko, P. S. Plys \/\/ Visnyk Kremenchutskoho derzhavnoho universytetu imeni Mykhaila Ostrohradskoho. \u2013 2010. \u2013 \u2116 4 (63). \u2013 S. 36\u201339.<\/li>\n
  8. Chavez-Clemente D. Gait Optimization for Multi-legged Walking Robots, with Application to a Lunar Hexapod : Ph.D. Thesis \/ D.\u00a0Chavez-Clement. \u2013 USA : Stanford University, 2011.<\/li>\n
  9. Karpenko A. P. Robototekhnyka y system\u044b avtomatyzyrovannoho proektyrovanyia : [uchebnoe posobye] \/ A. P. Karpenko. \u2013 M. : MHTU ym. N.\u042d. Baumana, 2014. \u2013 71 s.<\/li>\n<\/ol>\n

     <\/p>\n","protected":false},"excerpt":{"rendered":"

    \u041c\u041e\u0414\u0415\u041b\u042c \u0422\u0410 \u0410\u041b\u0413\u041e\u0420\u0418\u0422\u041c \u0420\u0423\u0425\u0423 \u041a\u0420\u041e\u041a\u0423\u042e\u0427\u041e\u0407 \u041f\u041b\u0410\u0422\u0424\u041e\u0420\u041c\u0418 \u0423 \u0411\u0410\u0413\u0410\u0422\u041e\u0424\u0423\u041d\u041a\u0426\u0406\u041e\u041d\u0410\u041b\u042c\u041d\u0406\u0419 \u041a\u041e\u041e\u041f\u0415\u0420\u0410\u0422\u0418\u0412\u041d\u0406\u0419 \u0420\u041e\u0411\u041e\u0422\u041e\u0422\u0415\u0425\u041d\u0406\u0427\u041d\u0406\u0419 \u0421\u0418\u0421\u0422\u0415\u041c\u0406 MODEL AND ALGORHITM OF THE WALKING (STEPPING) PLATFORM MOVING IN THE MULTI-FUNCTIONAL COOPERATIVE ROBOTIC SYSTEM \u0421\u0442\u043e\u0440\u0456\u043d\u043a\u0438: 21-25. \u041d\u043e\u043c\u0435\u0440: \u21163, 2020 (285) \u0410\u0432\u0442\u043e\u0440\u0438: \u0422. \u041e. \u0413\u041e\u0412\u041e\u0420\u0423\u0429\u0415\u041d\u041a\u041e, \u041c. \u0412. \u041a\u0420\u0410\u0421\u041e\u0412\u0421\u042c\u041a\u0418\u0419, \u0412. \u0412. \u041c\u0410\u0420\u0422\u0418\u041d\u042e\u041a, \u0410. \u0410. \u042f\u0412\u041d\u042e\u041a \u0425\u043c\u0435\u043b\u044c\u043d\u0438\u0446\u044c\u043a\u0438\u0439 \u043d\u0430\u0446\u0456\u043e\u043d\u0430\u043b\u044c\u043d\u0438\u0439 \u0443\u043d\u0456\u0432\u0435\u0440\u0441\u0438\u0442\u0435\u0442 T. HOVORUSHCHENKO, M. KRASOVSKYI, V. MARTYNYUK, A. […]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":[],"categories":[16],"tags":[],"_links":{"self":[{"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=\/wp\/v2\/posts\/1405"}],"collection":[{"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=1405"}],"version-history":[{"count":3,"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=\/wp\/v2\/posts\/1405\/revisions"}],"predecessor-version":[{"id":4092,"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=\/wp\/v2\/posts\/1405\/revisions\/4092"}],"wp:attachment":[{"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=1405"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=1405"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=1405"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}