Anton Gubankov

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.

An new approach for automatization of cutting of flexible items by using multilink manipulators with vision system

This paper presents a new advanced approach for automatization of cutting of flexible items with arbitrary geometrical forms. This approach based on using multilink manipulators with vision system and allows not use the individual equipment for rigid fixing of processed parts. This is achieved by formation and correction of program motions of cutting tool of manipulator using information about current position of processed parts from 3D vision system.

Synthesis of Adaptive Control System for Formation of Program Speed of Multilink Manipulator

The paper deals with adaptive control system of multilink manipulator. This system taking into account power restriction of executive elements is capable to set to the gripper the greatest possible speed at spatial trajectory. For providing necessary dynamic accuracy at high speeds of work, the self-turning correcting device has been entered into control chain of each drive. Results of simulating have completely confirmed high quality of the synthesized control system.

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.

Development and experimental research of adaptive control system for robotic complex

The paper deals with adaptive control system for robotic complex. This system depending on current values of continuously varying parameters of control objects can support the maximum possible speed of the working tools and accessory equipment without reducing a given dynamic accuracy. During performance of various technological operations there are situations when mass-inertial characteristics (parameters) of the objects and modes of their movements vary within wide limits. As a result, when the load on the actuators of manipulators is reduced it becomes possible to increase the speed of their work without worsening of dynamic precision of control. In this work the method of synthesis of adaptive control systems that provide continuous tuning of the frequency of the oscillating motion of the manipulator working tool depending on the amplitude of the next movement and moment of inertia of the control object is proposed. This tuning is provided using the amplitude-frequency characteristics of the actuator of the manipulator. Performed experimental studies have confirmed the high efficiency of the proposed methods.

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.