Registration Number
0223U005011,
(0123U104206)
, R & D reports
Title
Excavator mechatronic dig assist (E! 13445 Al:Dig)
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Математична та програмна модель керування виконавчим органом механізму із урахуванням інверсної кінематики та розпізнаванням об’єктів. Розробка програмного коду керування та концептуальної схеми підключення сервоприводів.
Head
Fedoriachenko Serhii О., Кандидат технічних наук
Registration Date
13-12-2023
Organization
Dnipro University of Technology
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Development of a mechatronic system control system using work adaptation algorithms based on machine vision technology
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Based on the analysis, the algorithms for determining the coordinates of the position of the links of the multi-link mechanism using the position of inverse kinematics and applied mathematics are substantiated.
The description of the kinematic scheme of the mechatronic technical complex has been completed. According to the kinematic scheme, the calculation of inverse kinematics was carried out. The image recognition algorithm in the frame using the segmentation method was considered, which made it possible to distinguish an object of a certain color from the image received in real time.
According to the obtained results, software was developed that allows you to manage the executive body. The simulation of the system's operation was carried out both in real operation and in virtual operation. Simulation of the operation of the virtual technical complex in the V-REP simulator is considered.
The most important aspects of labor protection are analyzed. In order to avoid the possibility of injury during work, several software solutions have been implemented, namely the reduction of speed when a person appears in the work zone and the use of current sensors to detect a collision. Also, the considered measures are aimed at leveling the danger of the impression of a person by electric current.
The introduction of the machine vision system and the adaptation of the technical complex to work in collaboration with a person corresponds to all modern trends in the field of robotics and is intended to simplify the design of the collaborative technical complex and increase its accessibility by shifting part of the tasks from specialized systems to publicly available ones, such as a PC with a web camera.
As a result of the NDR, the obtained results can be used in the technological process of various industries, where it is necessary to reduce the risks of the human factor and automate the processes of performing operations.
Product Description
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Oleksandra G. Lysenko
Sherstiuk Yevheniia A.
Lutsenko Ivan M.
Ziborov Kyrylo A.
Khudolii Serhii S.
Beshta Oleksandr O.
Diachenko Hryhorii H.
Harkavenko Dmytro V.
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2023-12-13
