References

mireabulletin

Russian Technological Journal

2782-32102500-316X

RTU MIREA

10.32362/2500-316X-2019-7-6-68-86

mireabulletin-182

Research Article

РОБОТИЗИРОВАННЫЕ КОМПЛЕКСЫ И СИСТЕМЫ. ТЕХНОЛОГИИ ДИСТАНЦИОННОГО ЗОНДИРОВАНИЯ НЕРАЗРУШАЮЩЕГО КОНТРОЛЯ

MULTIPLE ROBOTS (ROBOTIC CENTERS) AND SYSTEMS. REMOTE SENSING AND NON-DESTRUCTIVE TESTING

Обзор аппаратно-программного обеспечения систем управления роботов различного масштаба и назначения. Часть 2. Сервисная робототехника

A review on control systems hardware and software for robots of various scale and purpose. Part 2. Service robotics

Романов

А. М.

Romanov

Aleksey M.

Романов Алексей Михайлович, кандидат технических наук, доцент кафедры биокибернетических систем и технологий

119454, Россия, Москва, пр. Вернадского, д. 78

Alexey M. Romanov, Cand. of Sci. (Engineering), Associate Professor, Chair of Biocybernetics Systems and Technologies

78, Vernadskogo pr., Moscow 119454, Russia

romanov@mirea.ru

МИРЭА – Российский технологический университетРоссияMIREA – Russian Technological UniversityRussian Federation

2019

09012020

766886

2020

Романов А.М.

Romanov A.M.

Данная работа распространяется под лицензией Creative Commons Attribution 4.0.

This work is licensed under a Creative Commons Attribution 4.0 License.

https://www.rtj-mirea.ru/jour/article/view/182

В работе представлен обзор роботов различного масштаба и назначения. В ходе обзора анализируются применяемые аппаратные и программные решения и обобщаются наиболее распространенные структурные схемы систем управления. По результатам обзора проводится анализ подходов к масштабированию систем управления, применению алгоритмов интеллектуального управления, обеспечению отказоустойчивости, снижению массогабаритных размеров элементов систем управления, свойственных для разных классов роботов. Целью работы является поиск общих подходов, применяемых в различных областях робототехники для построения на их основе единой методологии проектирования масштабируемых интеллектуальных систем управления робототехническими комплексами с заданным уровнем отказоустойчивости на унифицированной элементной базе. Данная часть посвящена сервисной робототехнике. По результатам обзора сделаны следующие выводы: ключевой технологией в сервисной робототехнике с точки зрения масштабирования является Robot Operating System (ROS); cервисная робототехника является на сегодняшний день основным плацдармом для отработки интеллектуальных алгоритмов управления для тактического и стратегического уровня, которые интегрируются в общую систему на основе ROS; проблеме обеспечения отказоустойчивости в сервисной робототехнике практически не уделяется внимания, за исключением вопроса повышения надежности за счет изменения поведенческих алгоритмов; в ряде областей сервисной робототехники, в которых особо важно снижение массогабаритных размеров всех элементов, системы управления роботами выполняются на единственном вычислительном устройстве, в остальных случаях применяется многоуровневая архитектура, аналогичная тому, как это делается в промышленной робототехнике, с той разницей, что вместо программируемых логических контроллеров, на тактическом и стратегическом уровне используются встраиваемые компьютеры под управлением ROS и Linux.

A review of robotic systems was carried out. The paper analyzes applied hardware and software solutions and summarizes the most common block diagrams of control systems. The analysis of approaches to control systems scaling, the use of intelligent control, the achievement of fault tolerance, and the reduction of the weight and size of control system elements belonging to various classes of robotic systems were carried out. The goal of the review is finding common approaches used in various areas of robotics to build on their basis a uniform methodology for designing scalable intelligent control systems for robots with a given level of fault tolerance on a unified component base. This part is dedicated to service robotics. The following conclusions are made on the basis of the review results: the key technology in service robotics from the point of view of scalability is the Robot Operating System (ROS); service robotics is today the main springboard for testing intelligent algorithms for the tactical and strategic control levels that are integrated into a common system based on ROS; the problem of ensuring fault tolerance in the service robotics is practically neglected, with the exception of the issue of increasing reliability by changing behavioral algorithms; in a number of areas of service robotics, in which the reduction of mass and dimensions is especially important, the robot control systems are implemented on a single computing device, in other cases a multi-level architecture implemented on Linux-based embedded computers with ROS are used.

робототехникасервисные роботысистемы управлениямобильные роботыдроныбеспилотные летательные аппаратыбеспилотный транспортмодульные реконфигурируемые роботы

roboticsservice robotscontrol systemsmobile robotsdronesunmanned aerial vehicleunmanned transportmodular reconfigurable robots

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The authors declare that there are no conflicts of interest present.