Modern Problems of Robotics: Second International Conference, MPoR 2020, Moscow, Russia, March 25–26, 2020, Revised Selected Papers (Communications in Computer and Information Science)

Description

This book constitutes the post-conference proceedings of the 2nd International Conference on Modern Problems of Robotics, MPoR 2020, held in Moscow, Russia, in March 2020. The 16 revised full papers were carefully reviewed and selected from 21 submissions. The volume includes the following topical sections: Collaborative Robotic Systems, Robotic Systems Design and Simulation, and Robots Control. The papers are devoted to the most interesting today’s investigations in Robotics, such as the problems of the human–robot interaction, the problems of robot design and simulation, and the problems of robot and robotic complexes control.  Preface Organization Contents I Collaborative Robotic Systems Aspects of Industrial Applications of Collaborative Robots 1 Introduction 2 Method General Analyses of Collaborative Robot Application Based on Literature 2.1 Industrial Robots vs CoRs 2.2 Terminology 2.3 Possible Risks and Solutions in Collaborative Processes 3 Analysing a Robotic Production Cell with Collaborative Robots - a Case Study 3.1 The Manual Process 3.2 The Proposed Automatic Process 3.3 Requested Devices and Human Robot Interaction 3.4 Possible Risks in the Cell 3.5 Evaluation of the Cell 4 Results 5 Discussion 6 Conclusion References Control System Calibration Algorithm for Exoskeleton Under the Individual Specificities of the Operator 1 Introduction 2 The Development of an Experimental Stand 3 Conducting Experimental Research 4 Conclusion References Interactive Collaborative Robotics – New Results and New Problems 1 Introduction. Interactive Collaborative Robotics – Is a New Stage in the Human-Robot Relationships Development 2 The Concept of an Interactive Collaborative Robotic System 3 Organization of the “Human-Robot” Dialogue 4 The Solution of the Task of Recognizing Objects by a Robot 5 The Use of Augmented Reality and Intuitive Programming 6 About the Ergonomics of Interactive Robotic Systems 7 Conclusion References Development of Model for Labour Productivity Evaluation in Collaborative Technological Cells 1 Introduction and Task Definition 2 Concept of Transformable Assembly System for Aircraft Body Structures 3 Approaches for Simulating Model for Labor Productivity Study in the Collaborative Cell 4 Simulation Modeling Scenarios 5 Simulation Modeling Results 6 Conclusions References Robotic Systems Design and Simulation Increasing the Dynamic Characteristics of the Autonomous Mobile Robot by Adapting the Fuzzy Controllers of the Executive Level of the Specifics of Tactical Actions 1 Introduction 2 Quadrocopter’s Control System 3 Experimental Studies of Quadrocopter’s Control System 4 Conclusion References Teaching Real Robots: The Right Way to Set up Learning-Based Systems for Your Robot 1 Introduction 2 The Proposed Learning-Based Robotics System 2.1 The General Architecture 2.2 The Proposed System as a Markov Decision Process 2.3 The Environment 2.4 The Perception System 2.5 Reinforcement Learning System 3 Conclusion References Evaluation of Dynamic Models of a Mobile Robot’s Movable Platform 1 Introduction 2 Model Moving Platform of a Mobile Robot 2.1 Dynamic Model Based on Appel Equation 2.2 Dynamic Model Based on the Gauss Principle of Least Compulsion [6, 7] 3 Results of Modeling the Movement of the Mobile Robot Platform 4 Conclusion References Low-Cost In-Hand Slippage Detection and Avoidance for Robust Robotic Grasping with Compliant Fingers 1 Introduction 2 Related Work 3 Approach 3.1 Hardware Selection and Integration 3.2 Sensor Analysis and Modeling 3.3 Implementation of Manipulation Strategy 4 Evaluation 4.1 Initial Contact Detection 4.2 Slippage Detection 5 Discussion and Conclusions References A Method for Realizing the Connection Between the Movements of the Operator’s Fingers and the Model of an Anthropomorphic Gripping Device 1 Introduction 2 Statement of the Problem 3 Select a Control Object 3.1 Robonaut Hand 3.2 Shadow Dexterous Hand 3.3 EH1 Milano Hand 3.4 SVH Hand 4 Connecting the SVH Hand Model 5 Development of an Experimental Model 6 Connecting Sensors with the SVH Hand Model 7 Conclusion References Structure and Control Algorithms of Manipulation Robots Operating Autonomously 1 Introduction 2 Main Provisions of MO Grasp Planning Theory as Element of Assembly Operation 3 Grasp Properties as Phases of an Assembly Operation 4 Experimental System 5 Conclusion References Inspection of Pipelines of Complex Topology Using an Adaptive, Scalable Multi-segment Mobile Robot 1 Introduction 2 Robotics in Pipeline Networks 3 Adaptive Scalable Multi-segment Mobile Robot 4 Models, Computer Modeling and Verification 4.1 Problem Formulation and Mathematical Model 4.2 The Equation of Motion for One Module 4.3 The Equation of Motion for a System of Coupled Modules 4.4 Rolling Movement 4.5 Sliding Movement 5 Conclusion References Robots Control Adaptive Control System for Industrial Robotic Manipulator 1 Introduction 2 Structure of Adaptive Control System 3 CAD Models Processing Module 4 Automatic Calibration Module 5 Trajectory Verification Module 6 The Experimental Part 7 Conclusion References Logic-Dynamic Control of Assembly Manipulator Under Conditions of High-Energy Impacts 1 Introduction 2 Operation to Remove the Rod from the Container Cell 3 To Install a Rod in a Container Cell 4 Conclusion References Algorithms of Self-control of the Underwater Walking Device According to Information on a Collision of Feet with an Unorganized Support Surface 1 Introduction 2 Design Features of the Underwater Walking Robot 3 Information Opportunities of Articulated Feet 4 Possible Management and Self-control Solutions 5 Experimental Verification of the Analysis 6 Conclusion References Distributed Data-Sensor Systems in Wall Climbing Robotic Complexes 1 Introduction 2 Method and Statement of the Problem 3 Distributed Information-Sensor System of a Robotic Complex for Decontamination and Cleaning of Vertically Located Surfaces 4 Distributed Information-Sensor System of a Robotic Complex for Cutting and Welding Products 5 Technological Robot of Vertical Movement, Which Is Part of an Automated Complex for the Inspection and Repair of Surfaces Under Water 6 Conclusion Reference Adaptive System of Compensation of Motors’ Partial Degradations of Multirotor UAVs 1 Introduction 2 Rigid-Body Dynamics and Conventional Control of MUAVs 3 Direct Model Reference Adaptive Control of MUAVs with Motors’ Partial Degradations 4 Conclusions References Author Index