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Mekhatronika, Avtomatizatsiya, Upravlenie, 2018, vol. 19, no. 8, pp. 529—535
DOI: 10.17587/mau.19.529-535

Joint Work of Two Mobile Robots at the Automatic Execution of Manipulation Operations

V. F. Filaretov, filaretov@inbox.ru, A. A. Katsurin, katsurin@mail.ru Institute of Automation and Control Processes FEB RAS, Vladivostok, 690041, Russian Federation, Far Eastern Federal University, Vladivostok, 690091, Russian Federation

Corresponding author: Katsurin Aleksey A., Ph. D., Senior staff scientist, Institute of Automation and Control Processes FEB RAS, Vladivostok, 690041, Russian Federation, Associate Professor, Far Eastern Federal University, Vladivostok, 690091, Russian Federation, e-mail: katsurin@mail.ru

Received on May 04, 2018

At present, manipulative mobile robots (MR) are actively used in work in hard-to-reach or dangerous places for human beings. However, in the process of their individual work, situations may arise where their vision systems (VS) do not allow to observe the work objects fully or partially. In this case, auxiliary compact and highly maneuverable MR, also equipped with VS, can additionally be used. But the use of auxiliary MR inevitably leads to the appearance of errors in determining the positions of objects of work in the coordinate system of the main manipulative MR. Therefore, there is a need to create new approaches and methods for the coordinated control of several MRs and accurate determination of their relative positions for performing specified manipulation operations in a fully automatic mode.
The paper considers the method and algorithm for automatic execution of manipulation operations in the process of joint work of two MRs. The first of them (the main one) is equipped with a manipulator and VS, and the second one (auxiliary and more maneuverable) — only VS. The proposed control system allows to accurately perform manipulation operations with various objects in extreme conditions, even if the object of work is out of sight of the VS of the first robot. In this case, the spatial positions and orientations of the objects of work are determined and (if necessary) are corrected using the VS of the auxiliary robot and transmitted through the communication channels to the control system of the main robot, already being attached to its coordinate system. The developed system allows to determine and then compensate using VS not only the errors in determining the coordinates of work objects, but also the errors in the operation of the navigation systems of both MRs by performing trial (test) movements of the manipulator's working tool. The results of mathematical modeling fully confirmed the operability and effectiveness of the proposed approach to the joint operation of two MRs in the automatic mode.
Keywords: mobile robot, multi-robot system, control system, manipulator, mobile camera

Acknowledgements: This work was supported by the Russian Foundation for Basic Research, projects no. 16-29-04195, 16-07-00718.

For citation:
Filaretov V. F., Katsurin A. A. Joint Work of Two Mobile Robots at the Automatic Execution of Manipulation Operations, Mekhatronika, Avtomatizatsiya, Upravlenie, 2018, vol. 19, no. 8, pp. 529—535.

DOI: 10.17587/mau.19.529-535

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