A Small-Scale Manipulation Robot a Laboratory Layout Development

Yevsieiev V.; Starodubcev N.; Maksymova S.; Stetsenko K.

Публікація:
A Small-Scale Manipulation Robot a Laboratory Layout Development

dc.contributor.author	Yevsieiev V.
dc.contributor.author	Starodubcev N.
dc.contributor.author	Maksymova S.
dc.contributor.author	Stetsenko K.
dc.date.accessioned	2023-02-13T12:15:36Z
dc.date.available	2023-02-13T12:15:36Z
dc.date.issued	2023
dc.description.abstract	This article is devoted to the control system development for a mobile manipulation robot with a computer vision system. A feature of this study is the development of a decentralized control system based on microcontroller modules with the possibility of remote control using wireless networks. During the design, the authors developed a generalized block diagram of the manipulation robot and analyzed and selected hardware modules for imple-menting the control system. For the implementation of the laboratory layout of a mobile manipulation robot, the restrictions that are imposed on the control system were selected and justified. Based on these restrictions, it was proposed to use the following hardware modules: ESP32-Cam - for computer vision system implementation and ESP32 Devkitc v4 for motion control system implementation 2WD robotic platform and control system for the manipulator itself. Based on the selected hardware modules, a block diagram of the information interaction of the main modules of a mobile manipulation robot and an electrical circuit diagram are proposed, an experimental model of a small-sized manipulation robot is assembled to test the control system. A generalized control algorithm for a mobile manipulation robot has been developed based on the "client-server" architecture approach using "thin client" technologies, which makes it possible to use any mobile device that supports hardware connection to Wi-FI and any Web browser
dc.identifier.citation	A Small-Scale Manipulation Robot a Laboratory Layout Development / Yevsieiev V., Starodubcev N., Maksymova S., Stetsenko K. // International independent scientific journal, №47, P.18-28.
dc.identifier.uri	https://openarchive.nure.ua/handle/document/21793
dc.language.iso	en
dc.subject	mobile robots
dc.subject	mobile manipulation robots
dc.subject	control systems
dc.subject	computer vision system
dc.subject	decentral-ized control system
dc.subject	laboratory layout
dc.title	A Small-Scale Manipulation Robot a Laboratory Layout Development
dc.type	Article
dspace.entity.type	Publication