Table Of ContentSmart Innovation, Systems and Technologies 329
Andrey Ronzhin
Viacheslav Pshikhopov Editors
Frontiers in
Robotics and
Electromechanics
123
Smart Innovation, Systems and Technologies
Volume 329
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·
Andrey Ronzhin Viacheslav Pshikhopov
Editors
Frontiers in Robotics
and Electromechanics
Editors
Andrey Ronzhin Viacheslav Pshikhopov
St. Petersburg Federal Research Center Research Institute of Robotics and Control
of the Russian Academy of Sciences Systems
St. Petersburg, Russia Southern Federal University
Rostov-on-Don, Russia
ISSN 2190-3018 ISSN 2190-3026 (electronic)
Smart Innovation, Systems and Technologies
ISBN 978-981-19-7684-1 ISBN 978-981-19-7685-8 (eBook)
https://doi.org/10.1007/978-981-19-7685-8
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Preface
Digital transformation of society and declining cost of robots open up new areas of
application of robotic technology. A retrospective analysis of the development of
robotics allows us to assess the future development of the industry and highlight the
most promising research areas for the development of intelligent control systems and
electromechanics of heterogeneous robots.
The book presents solutions and notes of the problems of individual robotic
devices, as well as heterogeneous groups of robots when performing technolog-
ical tasks that require information, physical or energy interaction with people, the
environment and other robots, including service-charging platforms. The book exam-
ines the models, algorithms and software, hardware control of ground, water and
underwater robots, unmanned aerial vehicles, as well as their built-in and attached
equipment, including video cameras, sensors, repeaters, manipulators, grippers, and
other actuators.
Examples of bioinspired insectomorphic and four-legged robots, unmanned aerial
vehicles with flapping wings, which allow them to move in an aggressive environment
with moving obstacles and changing weather conditions, are considered.
Multilink systems for manipulating objects and exoskeletons for enhancing the
physical capabilities of a person and rehabilitation of the patient’s musculoskeletal
system have been analyzed. Due to the observance of the correct angles of the patient’s
hip and foot, as well as their precise positioning in the exoskeleton, rehabilitation is
much faster.
To implement manipulators, various kinematic schemes are used, including those
with a pyramidal structure, and their control systems are tuned through algorithms for
learning an artificial neural network, reinforcement learning, an adaptive forecasting
strategy, and a semi-Markov model.
Decomposition of tasks in collaborative robotic systems is discussed. For complex
and lengthy composite operations in the control system, it is possible to take into
account the requirements for providing time to the rest of the participating people
(depending on their current productivity and taking into account the drop in the
efficiency of completing tasks on time) and periodic maintenance of collaborative
robots.
v
vi Preface
Approaches to the calculation of trajectories of movement of robots in two-
dimensional and three-dimensional environments with obstacles are considered.
When constructing the trajectory of unmanned aerial vehicles of an aircraft type,
the location of take-off and landing points is taken into account, which ensures
a decrease in the number of maneuvers while driving. Simulation of labyrinthine
environments is performed in the Gazebo simulator and other computer platforms.
The robotic solutions of authors from Azerbaijan, Japan, Mexico, Russia, and
Taiwan, considered in the book, are implemented for practical tasks of monitoring
power lines, water resources, agricultural resources, hazardous radioactive territories,
the movement of ships on the coastal territory, airfield transport, the formation of
dynamic communication systems, and construction production.
St. Petersburg, Russia Andrey Ronzhin
Rostov-on-Don, Russia Viacheslav Pshikhopov
Contents
Part I Modeling and Control of Manipulators, Multi-link Robots
1 Simulation of Foot Movement During Walking Based
on the Study of Different Step Parameters ....................... 3
Andrey Malchikov, Alexander Pechurin, and Andrey Jatsun
2 Mathematical Modeling of the Biomechanical Rehabilitation
System of Foot Exoskeleton in Frontal and Sagittal Planes ........ 19
Andrey Knyazev, Andrey Jatsun, and Andrey Fedorov
3 Simulation of Controlled Motion of the Actuator of Robotic
Systems in the Presence of Coupling Forces ...................... 33
Evgeny Subbotin and Andrey Jatsun
4 Digital Control by Robot Manipulator with Improved Rigidity .... 45
Eugene Larkin, Aleksey Bogomolov, and Aleksandr Privalov
5 Performance Evaluation of Multigrid Brute-Force Solutions
of Inverse Kinematics Problem for the Robotis OP2 Humanoid
Hand ......................................................... 61
Linar Zagidullin, Tatyana Tsoy, Kuo-Hsien Hsia,
Edgar A. Martínez-García, and Evgeni Magid
6 Neural Network Approach for Solving Inverse Kinematics
Problem of Modular Reconfigurable Systems .................... 77
Aleksei Erashov, Anton Saveliev, and Dmitriy Blinov
7 Algorithm of Trajectories Synthesis for Modular Wheeled
Inspection Robot .............................................. 93
Ildar Nasibullayev and Oleg Darintsev
vii
viii Contents
Part II Interaction and Control of Robot Group
8 Study of Algorithms for Coordinating a Group of Autonomous
Robots in a Formation ......................................... 111
Viacheslav Pshikhopov, Mikhail Medvedev, and Boris Gurenko
9 Intelligent System for Countering Groups of Robots Based
on Reinforcement Learning Technologies ........................ 135
Vladimir Parkhomenko, Tatiana Gayda, and Mikhail Medvedev
10 LIRS-MazeGen: An Easy-to-Use Blender Extension
for Modeling Maze-Like Environments for Gazebo Simulator ..... 147
Anzhelika Iskhakova, Bulat Abbyasov, Timophey Mironchuk,
Tatyana Tsoy, Mikhail Svinin, and Evgeni Magid
11 Modeling of Joint Motion Planning of Group of Mobile
Robots and Unmanned Aerial Vehicle ........................... 163
Aleksander Shirokov, Alexander Salomatin, Rinat Galin,
and Vasiliy Zorin
12 Simulation of Controllable Motion of a Flying Robot Under
the Action of Aerodynamic Force of a Bioinspired Flapping
Wing ......................................................... 179
Sergey Efimov, Oksana Emelyanova, and Sergey Jatsun
13 Approaches to Optimizing Individual Maneuvers
of Unmanned Aerial Vehicle .................................... 193
Oleg Korsun, Alexander Stulovskii, Sergey Kuleshov,
and Alexandra Zaytseva
14 Neural Network Technologies in the Tasks of Estimating
and Forecasting the Resource of Power Supply Systems
in Robotic Complexes ......................................... 207
Nikolay Poluyanovich, Dmitriy Burkov, and Marina Dubyago
15 Instantaneous Common-Mode Voltage Reduction
of Three-Phase Multilevel Voltage Source Inverter Under
Quarter-Wave-Symmetric Space Vector PWM with Full Set
of Vectors .................................................... 221
Nikolay Lopatkin
16 System of Decentralized Control of a Group of Mobile Robotic
Means Interacting with Charging Stations ....................... 235
Vladimir Kostyukov and Viacheslav Pshikhopov
17 Method for Optimizing the Trajectory of a Group of Mobile
Robots in a Field of Repeller Sources Using the Method
of Characteristic Probabilistic Functions ........................ 265
Vladimir Kostyukov and Viacheslav Pshikhopov
Contents ix
Part III Heterogeneous Robots in Monitoring and Service Tasks
18 Control of Robotic Mobile Platform for Monitoring Water
Bodies ........................................................ 281
Sergey Efimov, Dzhamil Safarov, and Sergey Jatsun
19 Control System of Small-Unmanned Aerial Vehicle
for Monitoring Sea Vessels on Coastal Territory of Ecuador ....... 295
Andres Santiago Martinez Leon,
Luis Miguel Mosquera Morocho, and Oksana Emelyanova
20 Development of an Algorithm for Coverage Path Planning
for Survey of the Territory Using UAVs .......................... 315
Valeria Lebedeva and Igor Lebedev
21 Computer Vision System of Robot Control for Monitoring
Objects in Radioactive Areas ................................... 331
Andrei Malchikov and Petr Bezmen
22 Method for Searching Deployment Zones of Ground Seismic
Sensors by a Heterogeneous Group of UAVs in an Environment
with a Complex Topography ................................... 343
Roman Iakovlev, Valeria Lebedeva, Ivan Egorov, Vitaly Bryksin,
and Andrey Ronzhin
23 Method of Autonomous Survey of Power Lines Using
a Multi-rotor UAV ............................................. 359
Anton Saveliev and Igor Lebedev
24 Walking Robots for Agricultural Monitoring .................... 377
Dmitry Dobrynin and Yulia Zhiteneva
25 Computational Approach to Optimal Control in Applied
Robotics ...................................................... 387
Elizaveta Shmalko
26 Highly Maneuverable Small-Sized Wheeled Mobile Robotic
Construction Platform ......................................... 403
Ekaterina Saveleva and Evgeny Politov
27 Control System for Robotic Towing Platform for Moving
Aircraft ...................................................... 419
Dmitry Afonin, Alexander Pechurin, and Sergey Jatsun
28 Simple Task Allocation Algorithm in a Collaborative Robotic
System ....................................................... 433
Rinat Galin, Roman Meshcheryakov, and Mark Mamchenko
