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Study of geometric parameters defining the area of allowed configurations when changing the position of restricted areas
Abstract.The subject of the research is the automatic collision detection mechanism of the manipulator mechanism, with restricted zones used in the knowledge base of intelligent robot control systems. The object of the study is the area of allowed configurations defined in the space of generalized coordinates. The authors consider in detail such aspects as the parametric specification of the area of allowed configurations in the presence of forbidden zones in the working space of the manipulator mechanism. It is proposed to use a sufficient condition for determining the collisions of the manipulator mechanism and the forbidden zones, based on the use of the area of allowed configurations. The research methodology is based on the study of sections defining the shape and position of the region of allowed configurations. All allowed configurations in the space of generalized coordinates are displayed as a geometric object. This geometric object is specified in an analytical way by using several kinematic surfaces that limit it. The simulation results are given, which allowed us to develop a parametric method for specifying a set of sections that define the shape and position of the region of allowed configurations for different positions of the forbidden zones. The main conclusion of the study is to reduce the calculation time of test tasks related to virtual modeling of the movement of the Varan mobile robot arm mechanism using the developed mechanism for collision detection of the mechanism with the environment. A special contribution of the authors to the study of the topic is the development of a parametric method for defining the area of allowed configurations used in the intelligent control of the motion of the manipulator mechanism in a previously known external environment. The novelty of the research lies in the development of a more productive method for analyzing information on the position of the manipulator mechanism and forbidden zones on the basis of the obtained analytical dependencies.
Keywords: mechanism of the manipulator, restricted areas, synthesis of robot movements, virtual modeling, kinematic surfaces, area of allowed configurations, the space of generalized coordinates, vector of the speeds, parameters of a form forming, parameter of locations of forming
Article was received:16-05-2018
This article written in Russian. You can find full text of article in Russian here .