Analysis of the effectiveness path planning methods and algorithm for the anthropomorphic robot manipulator

The article deals with the high-energy consumption of excessive anthropomorphic robots manipulators problem. Among the existing ways of solving this problem, solving the problems of energy-efficient traffic control methods of are chosen. Earlier on this topic, the authors developed mathematical meth...

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Asıl Yazarlar:	Petrenko, V. I., Петренко, В. И., Tebueva, F. B., Тебуева, Ф. Б., Antonov, V. O., Антонов, В. О., Gurchinsky, M. M., Гурчинский, М. М., Pavlov, A. S., Павлов, А. С., Ryabtsev, S. S., Рябцев, С. С., Shutova, J. A., Шутова, Ю. А.
Materyal Türü:	Статья
Dil:	English
Baskı/Yayın Bilgisi:	Institute of Electrical and Electronics Engineers Inc. 2019
Konular:	Obstacle avoidance Redundant manipulator Energy efficiency Motion control Motion path planning Robot programming
Online Erişim:	https://www.scopus.com/record/display.uri?eid=2-s2.0-85068343055&origin=resultslist&sort=plf-f&src=s&st1=Analysis+of+the+effectiveness+path+planning+methods+and+algorithm+for+the+anthropomorphic+robot+manipulator&st2=&sid=4921115216a6ba0493b25561c63f795a&sot=b&sdt=b&sl=122&s=TITLE-ABS-KEY%28Analysis+of+the+effectiveness+path+planning+methods+and+algorithm+for+the+anthropomorphic+robot+manipulator%29&relpos=0&citeCnt=0&searchTerm= https://dspace.ncfu.ru/handle/20.500.12258/6858
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spelling	ir-20.500.12258-68582020-02-17T10:05:04Z Analysis of the effectiveness path planning methods and algorithm for the anthropomorphic robot manipulator Petrenko, V. I. Петренко, В. И. Tebueva, F. B. Тебуева, Ф. Б. Antonov, V. O. Антонов, В. О. Gurchinsky, M. M. Гурчинский, М. М. Pavlov, A. S. Павлов, А. С. Ryabtsev, S. S. Рябцев, С. С. Shutova, J. A. Шутова, Ю. А. Obstacle avoidance Redundant manipulator Energy efficiency Motion control Motion path planning Robot programming The article deals with the high-energy consumption of excessive anthropomorphic robots manipulators problem. Among the existing ways of solving this problem, solving the problems of energy-efficient traffic control methods of are chosen. Earlier on this topic, the authors developed mathematical methods for energy-efficient planning of the path of the anthropomorphic robot manipulator in the working area with a stationary obstacle. Earlier on this topic, the authors developed mathematical methods for energy-efficient motion path planning of the anthropomorphic robot manipulator in the working area with a stationary obstacle. The proposed methods have reduced computational complexity for real-time operation mode. The principle of the presented mathematical apparatus operation is to construct a virtual rectilinear energy-efficient path for moving the manipulator effector to a given position and then iteratively pushing the manipulator links out of the obstacle area to build the necessary movement route. The developed methods can be modified according to the necessary criteria of motion manipulator quality. This article presents the results of the new algorithm energy efficiency analysis that combines the previously described methods. A comparison with the selected analogue, the principle of which is based on the representation of objects in the form of oriented connected containers, is accomplished. The results of an experiments series on the simulation model implemented in MatLab show a reduction in the energy consumption of manipulators when performing targeted operations in the working area with or without an obstacle. A promising area of further research is the modification of the proposed mathematical apparatus for working in a zone with multiple stationary and dynamic obstacles, as well as the elimination of collisions when working with a human 2019-08-02T09:46:17Z 2019-08-02T09:46:17Z 2019 Статья Petrenko, V., Tebueva, F., Antonov, V., Gurchinsky, M., Pavlov, A., Sergey, R., Shutova, Y. Analysis of the effectiveness path planning methods and algorithm for the anthropomorphic robot manipulator // 2019 International Siberian Conference on Control and Communications, SIBCON 2019. - 2019. - Article number 8729657 https://www.scopus.com/record/display.uri?eid=2-s2.0-85068343055&origin=resultslist&sort=plf-f&src=s&st1=Analysis+of+the+effectiveness+path+planning+methods+and+algorithm+for+the+anthropomorphic+robot+manipulator&st2=&sid=4921115216a6ba0493b25561c63f795a&sot=b&sdt=b&sl=122&s=TITLE-ABS-KEY%28Analysis+of+the+effectiveness+path+planning+methods+and+algorithm+for+the+anthropomorphic+robot+manipulator%29&relpos=0&citeCnt=0&searchTerm= http://hdl.handle.net/20.500.12258/6858 en 2019 International Siberian Conference on Control and Communications, SIBCON 2019 application/pdf application/pdf Institute of Electrical and Electronics Engineers Inc.
institution	СКФУ
collection	Репозиторий
language	English
topic	Obstacle avoidance Redundant manipulator Energy efficiency Motion control Motion path planning Robot programming
spellingShingle	Obstacle avoidance Redundant manipulator Energy efficiency Motion control Motion path planning Robot programming Petrenko, V. I. Петренко, В. И. Tebueva, F. B. Тебуева, Ф. Б. Antonov, V. O. Антонов, В. О. Gurchinsky, M. M. Гурчинский, М. М. Pavlov, A. S. Павлов, А. С. Ryabtsev, S. S. Рябцев, С. С. Shutova, J. A. Шутова, Ю. А. Analysis of the effectiveness path planning methods and algorithm for the anthropomorphic robot manipulator
description	The article deals with the high-energy consumption of excessive anthropomorphic robots manipulators problem. Among the existing ways of solving this problem, solving the problems of energy-efficient traffic control methods of are chosen. Earlier on this topic, the authors developed mathematical methods for energy-efficient planning of the path of the anthropomorphic robot manipulator in the working area with a stationary obstacle. Earlier on this topic, the authors developed mathematical methods for energy-efficient motion path planning of the anthropomorphic robot manipulator in the working area with a stationary obstacle. The proposed methods have reduced computational complexity for real-time operation mode. The principle of the presented mathematical apparatus operation is to construct a virtual rectilinear energy-efficient path for moving the manipulator effector to a given position and then iteratively pushing the manipulator links out of the obstacle area to build the necessary movement route. The developed methods can be modified according to the necessary criteria of motion manipulator quality. This article presents the results of the new algorithm energy efficiency analysis that combines the previously described methods. A comparison with the selected analogue, the principle of which is based on the representation of objects in the form of oriented connected containers, is accomplished. The results of an experiments series on the simulation model implemented in MatLab show a reduction in the energy consumption of manipulators when performing targeted operations in the working area with or without an obstacle. A promising area of further research is the modification of the proposed mathematical apparatus for working in a zone with multiple stationary and dynamic obstacles, as well as the elimination of collisions when working with a human
format	Статья
author	Petrenko, V. I. Петренко, В. И. Tebueva, F. B. Тебуева, Ф. Б. Antonov, V. O. Антонов, В. О. Gurchinsky, M. M. Гурчинский, М. М. Pavlov, A. S. Павлов, А. С. Ryabtsev, S. S. Рябцев, С. С. Shutova, J. A. Шутова, Ю. А.
author_facet	Petrenko, V. I. Петренко, В. И. Tebueva, F. B. Тебуева, Ф. Б. Antonov, V. O. Антонов, В. О. Gurchinsky, M. M. Гурчинский, М. М. Pavlov, A. S. Павлов, А. С. Ryabtsev, S. S. Рябцев, С. С. Shutova, J. A. Шутова, Ю. А.
author_sort	Petrenko, V. I.
title	Analysis of the effectiveness path planning methods and algorithm for the anthropomorphic robot manipulator
title_short	Analysis of the effectiveness path planning methods and algorithm for the anthropomorphic robot manipulator
title_full	Analysis of the effectiveness path planning methods and algorithm for the anthropomorphic robot manipulator
title_fullStr	Analysis of the effectiveness path planning methods and algorithm for the anthropomorphic robot manipulator
title_full_unstemmed	Analysis of the effectiveness path planning methods and algorithm for the anthropomorphic robot manipulator
title_sort	analysis of the effectiveness path planning methods and algorithm for the anthropomorphic robot manipulator
publisher	Institute of Electrical and Electronics Engineers Inc.
publishDate	2019
url	https://www.scopus.com/record/display.uri?eid=2-s2.0-85068343055&origin=resultslist&sort=plf-f&src=s&st1=Analysis+of+the+effectiveness+path+planning+methods+and+algorithm+for+the+anthropomorphic+robot+manipulator&st2=&sid=4921115216a6ba0493b25561c63f795a&sot=b&sdt=b&sl=122&s=TITLE-ABS-KEY%28Analysis+of+the+effectiveness+path+planning+methods+and+algorithm+for+the+anthropomorphic+robot+manipulator%29&relpos=0&citeCnt=0&searchTerm= https://dspace.ncfu.ru/handle/20.500.12258/6858
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Analysis of the effectiveness path planning methods and algorithm for the anthropomorphic robot manipulator

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