Robotariums implementations witn the Elements of Artificial Intelligence Control

摘要

The aim of the research was to increase the autonomy and flexibility of mobile robotic systems, develop effective algorithms of path finding of service robots, operating in rooms surrounded by people, and create technologies for intellectualization and unification, including their applications for industrial systems and underwater robotics. The paper describes a control system, that allows you to implement several modes of supervisory control in robotariums. Network integration software made it possible to unify the control of heterogeneous groups of robots both in the mode of their digital counterparts and directly with the real objects. The mobile robot AMUR-307 has been developed, which is planned to be used in clinics to move various objects between the premises of the building. A hardware and software system was designed and manufactured to control robots of this type, and its comprehensive testing was performed. The solution allows you quickly make changes, following the customer's requirements and deliver robots, integrating them into the existing infrastructure. The article also analyzes the possibility use new type of planetary-tipping gearbox for the manipulator of the AMUR-307 service robot and on a walking underwater vehicle. The trajectory of movement of the output link of an eccentric-cycloidal gearing with a gear ratio of 1:20 is studied. The trajectory of movement of the output link of the Chebyshev mechanism, while using an eccentric-cycloidal gearing, is analyzed.