Alexander Zuev

The method of cutting of flexible parts using manipulators and information multiplexing from 3D vision system and CAD model

This paper presents new method of cutting of flexible parts with arbitrary geometrical form. Proposed method is based on four principles: 1) simple and rapid fixation of any flexible parts with the help of universal devices with possible deformation of its geometric forms; 2) scanning of the deformed parts by means of 3D vision system; 3) multiplexing of priori known CAD model of parts with the model, received by scanning; 4) automatic generation of new motion trajectory of manipulators working tool. For realization of this method an algorithm of multiplexing of two models and transferring of cutting path from the CAD model to deformed model is developed. Conducted mathematical simulation showed that proposed algorithm provides the accurate path planning of manipulators working tool at deformation of parts and hence to provide the quality cutting.

A new approach to synthesis of high speed and high reliable control systems for multilink manipulators

This paper is dedicated to development of new approach to synthesis of highly reliable speed control systems of multilink manipulator (MM). These control systems provide guaranteed performance of technological operations as fast as possible at the faults presence in actuators of these manipulators. Simulation results confirmed the efficiency of the proposed approach.

The development of system of accommodation to faults of navigation sensors of underwater vehicles with resistance to disturbance

In this paper, a new approach for synthesis of system of accommodation to faults of navigation sensors of underwater vehicles (UV) is developed and investigated. Proposed system is synthesized by using kinematic model of UV and data fusion of sensors signals. The advantage of this approach is that it allows detecting and isolating faults in sensors of UV and operatively to compensate their effects at performance of underwater missions in unknown environment with unknown external disturbances, including noised sensor signals.

Fault Detection of Actuators of Robot Manipulator by Vision System

This paper considers synthesis method of fault detection system for actuators of robot manipulators based on using of signals fusion from stereo camera, angles sensors of joints and desired values of joint variables. The vision system is used for determining the position of three markers rigidly connected with working tool in the coordinate system associated with the manipulator. The advantage of proposed fault detection system is the simplicity of implementation and precision of detection of typical faults without knowledge about non-linear dynamic of robot and actuators. The results of mathematical simulation on the example of the PUMA-type manipulator using its kinematic model, position and orientation data of markers placed on working tool of manipulator, obtained from vision system fully confirm the efficiency of the proposed fault detection system.

Fault diagnosis in linear systems with non-parametric method

The paper is devoted to the problem of fault isolation in technical systems described with linear dynamic models. So-called non-parametric, or model-free, or data-driven method is used to solve the problem. The feature of this method is that parameters of the system under consideration may be unknown. The methods of fault isolation and residual generation are suggested. The theoretical results are illustrated by an example.

A new approach to automatization of non-rigid parts machining at their deformation by using multilink manipulators with vision system

In this paper, the new approach to automatization of non-rigid parts machining at their deformation is proposed and analyzed. This approach bases on application of multilink manipulators with vision system and allows not using the expensive individual equipment for exact fixing of parts before machining. Two different algorithms of intelligent path planning of manipulators working tool based on vision system were developed. The choice of these algorithms depends on value of deformation of parts. The results of performed simulations have completely confirmed the working capacity and high quality of the proposed approach.

Method of combination of three-dimensional models of details with their CAD-models at the presence of deformations

In this work the combination method of three-dimensional models of processed details with their reference CAD-models when these details have unknown in advance deformation is proposed. This method assumes preliminary transformation of models to clouds of points, special density increasing of these clouds and their iterative combination by means of ICP (Iterative Closest Points) algorithm. Model example demonstrates the efficiency and effectiveness of proposed approach.