Development of a Mobile Robotic Complex Control System
Students Name: Chypak Mykola Volodymyrovych
Qualification Level: magister
Speciality: Radioelectronics Devices and Means
Institute: Institute of Telecommunications, Radioelectronics and Electronic Engineering
Mode of Study: full
Academic Year: 2020-2021 н.р.
Language of Defence: ukrainian
Abstract: Chypak MV , Smerdova TA (manager). Development of a Mobile Robotic Complex Control System. Master’s thesis. Lviv Polytechnic National University, Lviv, 2020 Extended annotation. The great introduction of robots in the field of production and research is an important feature of the modern scientific and technological revolution. Robots are universal automata that are used for motor and intellectual functions of man. Manipulative work is one of their most important classes. The main purpose of creating robots is to give them activities that are difficult, time consuming, monotonous and dangerous to health and life. This is primarily ancillary work in production (unloading and loading); basic production operations (painting, cutting, assembly); work in extreme conditions (in space, in water, in radioactive and poisonous environments). Also, robots are used to automate integrated production, increase productivity, improve product quality. Versatility and the ability to quickly reconfigure distinguishes robots from traditional means of automation, it provides the opportunity to create on the basis of universal equipment robotic technological complexes and flexible automated production. With the development of robotics, humanity is given the opportunity to solve new scientific problems and production problems. The control system provides control of movement and work of the technical equipment, management of a running gear and power plant. The complexity of the task, the uncertainty of the environment, and the autonomy of the robot, determine the complexity of the control system. The development of the robotic complex is determined by the development of the control system and has become the basis for the classification of MR by generations. The management system has 3 levels of management: upper (strategic), middle (tactical) and lower (executive), which have built-in mechanisms for adaptation, which work from assessing the quality of implementation of plans in the physical world. The main tasks of the qualification work were: - Analyze existing mobile robots - Modernization of the electrical circuit diagram - Development of a management system for the mobile complex - Conduct experimental studies of the complex During the thesis, the mobile robot technical complex (MRC) was modernized, electrical circuit diagrams were developed and the control system of this robot was implemented. A model was made in the Simulink environment to study its behavior in extreme situations. Developed a program to manage RTOs in the MathLAB environment. In the end, a training and methodological complex was prepared for its introduction into the training material for the study of the robot-cart, as well as further expansion of opportunities and the creation of new technical tasks for the mobile complex. Key words: mobile complex, electric motor, basic electric scheme, functional scheme, control system. List of used literature sources: 1 Thomas Broynl. Embedded robotic systems: design and application of mobile robots with embedded systems control: lane. with English / T. Broynl. - Moscow; Izhevsk: Institute Computer Research, 2012. - 520 p. 2 SF Burdakov, IV Miroshnik, RE Stelmakov. Control systems movement of wheel robots, 2001. 3 Mokhov AD Mathematical and software development control systems for mobile robots of arbitrary structure with redundant ties, 2014. 4 Ю.Н. Berezovsky, DV Chernilevsky, MS Petrov. Machine parts. 5 Mikhailov, OP, Orlova, RT, Paltsev, AV Modern electric drive of CNC machines and industrial robots [Text]: textbook. / О.П. Михайлов, Р.Т. Orlova, A.V. Fingers; under ed. WOULD. Черпакова. - М .: Высш.шк., 1989. - 111p .: ill.