Determination of Workspaces and Intersections of Robot Links in a Multi-Robotic System for Trajectory Planning
One of the problems in the development of multi-robotic systems is the safe navigation of a group of robots. To solve it, the restrictions imposed by the structural elements of its agents are determined. The article presents a multi-robotic system consisting of parallel and serial robots installed o...
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-05-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/11/11/4961 |
| _version_ | 1797532317335420928 |
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| author | Laxmidhar Behera Larisa Rybak Dmitry Malyshev Elena Gaponenko |
| author_facet | Laxmidhar Behera Larisa Rybak Dmitry Malyshev Elena Gaponenko |
| author_sort | Laxmidhar Behera |
| collection | DOAJ |
| description | One of the problems in the development of multi-robotic systems is the safe navigation of a group of robots. To solve it, the restrictions imposed by the structural elements of its agents are determined. The article presents a multi-robotic system consisting of parallel and serial robots installed on mobile platforms. The parallel robot is made based on a tripod with the ability to rotate the robot’s base relative to the horizontal axis. The analysis of its working and technological area is carried out, taking into account singularity zones. The developed algorithms for determining the workspaces are based on deterministic methods for approximating the set of solutions to systems of nonlinear inequalities. In this case, restrictions in spaces of different coordinates are presented in the form of n-dimensional boxes. Approaches to solving two problems are proposed to determine the possible intersection of links for the collaborative performance of tasks by a multi-robotic system. The first task is to determine the intersection of the links for the given positions and the relative position of the manipulators. The second is in determining the minimum distance between the technological areas of manipulators, which consist of the workspace and all possible positions of the intermediate links. |
| first_indexed | 2024-03-10T10:57:25Z |
| format | Article |
| id | doaj.art-4e17d8615f4f45809fb3ca83c20d0c43 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-10T10:57:25Z |
| publishDate | 2021-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-4e17d8615f4f45809fb3ca83c20d0c432023-11-21T21:45:18ZengMDPI AGApplied Sciences2076-34172021-05-011111496110.3390/app11114961Determination of Workspaces and Intersections of Robot Links in a Multi-Robotic System for Trajectory PlanningLaxmidhar Behera0Larisa Rybak1Dmitry Malyshev2Elena Gaponenko3Department of Electrical Engineering, Indian Institute of Technology at Kanpur, Kanpur 208016, IndiaResearch Institute of Robotics and Control Systems, Belgorod State Technological University Named after V.G. Shukhov, 308012 Belgorod, RussiaResearch Institute of Robotics and Control Systems, Belgorod State Technological University Named after V.G. Shukhov, 308012 Belgorod, RussiaResearch Institute of Robotics and Control Systems, Belgorod State Technological University Named after V.G. Shukhov, 308012 Belgorod, RussiaOne of the problems in the development of multi-robotic systems is the safe navigation of a group of robots. To solve it, the restrictions imposed by the structural elements of its agents are determined. The article presents a multi-robotic system consisting of parallel and serial robots installed on mobile platforms. The parallel robot is made based on a tripod with the ability to rotate the robot’s base relative to the horizontal axis. The analysis of its working and technological area is carried out, taking into account singularity zones. The developed algorithms for determining the workspaces are based on deterministic methods for approximating the set of solutions to systems of nonlinear inequalities. In this case, restrictions in spaces of different coordinates are presented in the form of n-dimensional boxes. Approaches to solving two problems are proposed to determine the possible intersection of links for the collaborative performance of tasks by a multi-robotic system. The first task is to determine the intersection of the links for the given positions and the relative position of the manipulators. The second is in determining the minimum distance between the technological areas of manipulators, which consist of the workspace and all possible positions of the intermediate links.https://www.mdpi.com/2076-3417/11/11/4961multirobot systemworkspacelink interferenceparallel robotcollision-free workspace |
| spellingShingle | Laxmidhar Behera Larisa Rybak Dmitry Malyshev Elena Gaponenko Determination of Workspaces and Intersections of Robot Links in a Multi-Robotic System for Trajectory Planning Applied Sciences multirobot system workspace link interference parallel robot collision-free workspace |
| title | Determination of Workspaces and Intersections of Robot Links in a Multi-Robotic System for Trajectory Planning |
| title_full | Determination of Workspaces and Intersections of Robot Links in a Multi-Robotic System for Trajectory Planning |
| title_fullStr | Determination of Workspaces and Intersections of Robot Links in a Multi-Robotic System for Trajectory Planning |
| title_full_unstemmed | Determination of Workspaces and Intersections of Robot Links in a Multi-Robotic System for Trajectory Planning |
| title_short | Determination of Workspaces and Intersections of Robot Links in a Multi-Robotic System for Trajectory Planning |
| title_sort | determination of workspaces and intersections of robot links in a multi robotic system for trajectory planning |
| topic | multirobot system workspace link interference parallel robot collision-free workspace |
| url | https://www.mdpi.com/2076-3417/11/11/4961 |
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