Human-Robot Cooperation in Technological Wall Climbing Robot System

Gradetsky, V.G.; Knyazkov, M.M.; Semenov, E.A.; Sukhanov, A.N.

Авторы: Gradetsky V.G., Knyazkov M.M., Semenov E.A., Sukhanov A.N.
Сборник: Studies in Systems, Decision and Control
Серия: Robotics: Industry 4.0 Issues & New Intelligent Control Paradigms
Том: 272
Год издания: 2020
Место издания: Springer, Cham Switzerland
Первая страница: 65
Последняя страница: 76
DOI: 10.1007/978-3-030-37841-7_6
Аннотация: Many R&D is related to man-machine interaction that characterized as general background results as original results depending on the technical structure, control, and application of every original machine. The goals of this paper are to take attention to the particularities of man-operator participation in multilevel control system of underwater wall-climbing robots (UWCR) occupied with vacuum control with vacuum contact devices (VCD), to analyze man-machine interface and to create control algorithms for UWCR with man-operator participation for the cases when some technologies necessary to produce in extreme conditions. Prescribed tasks for UWCR system are the following: satisfy control motion long underwater surfaces, produce inspection of the surfaces of the pool in nuclear power station and prepare some technological processes like cutting or welding along such surfaces. For the execution of this work, it is necessary to fix a robot on the surface and then perform the robot’s motion along the surface under control of the man-machine operator. To provide effective operator participation in the design control system it was satisfy predicted performance of UWCR robot motion. It was provided analyze of rational automation of UWCR motion and technologies performance. It was clear that real reveille processes may rational fulfilled only with operator participation in critical points. The structure of a multilevel control system for UWCR with VCD was designed and simulated which includes a man-machine interface. The control system takes into attention the peculiarities of operator participation. It was created several algorithms. Regular algorithms satisfy automation of main system motion of UWCR to aim point. The algorithm provides intervention of an operator if obstacle avoidance operation and simple decision making not perform. This work was supported by the Russian Foundation for Basic Research, project no. 18-08-00357.
Добавил в систему: Князьков Максим Михайлович

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