Сглаживание траектории центра масс робота методом генетического отбора
DOI:
https://doi.org/10.26577/JMMCS-2019-1-605Ключевые слова:
кинематика шарнирной конструкции, «кинетическая скульптура» Тео Янсена, метод Ньютона, генетический алгоритм, шагающий роботАннотация
В работе рассматривается метод расчёта кинематики шарнирной конструкции и применение генетического алгоритма для обеспечения требуемой траектории движения заданных точек конструкции. Сначала описаны типы звеньев произвольных шарнирных конструкций, их математическое описание и построение на их основе систем нелинейных уравнений, описывающих кинематику шарнирных конструкций. Полученные нелинейные системы решаются многократным применением метода Ньютона для систем нелинейных уравнений. Построенный алгоритм применяется для расчёта кинематики шарнирной конструкции, представляющей собой модель конечности «кинетических скульптур» Тео Янсена. Целью расчёта является подбор оптимальных параметров конечности, которые позволят применить её для модели робота с четырьмя опорными конечностями. Строится функция приспособленности траектории опорной точки и методом генетического отбора подбирается лучшая траектория, которая обеспечивает прямолинейное движение корпуса робота относительно земли. Теоретические расчёты подкрепляются численным моделированием и визуализацией. В конце статьи приводится график, иллюстрирующий успешное применение разработанной модели. На основе теоретических построений создан реальный прототип шагающего робота с четырьмя конечностями методом 3D печати комплектующих и последующей сборки.
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[3] Gorobchev А.S. "Programmnyiy kompleks rascheta dinamiki i kinematiki mashin kak sistem tverdyih i uprugih tel [The program complex of calculation of dynamics and kinematics of machines as systems of firm and elastic bodies]" , Directory. Engineering Journal with Application 9(90) (2004): 40-43.
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[5] Moldovan F., Dolga V., Ciontos O. and Pop C. "Cad design and analytical model of a twelve bar walking mechanism" , University "Politehnica"of Bucharest Scientific Bulletin, Series D: Mechanical Engineering 73(2) (2011): 35-48.
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[7] Akzhalova A., Inoue A. and Mukharsky D. "Intelligent Mobile Agents for Disaster Response: survivor search and simple communication support" , Proceedings of International Symposium on Artificial Life and Robotics AROB 19th (2014): 254-259.
[8] Todd D.J. "Walking machines: an introduction to legged robots" , Springer Science and Business Media, 2013, 189.
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[10] Chernyishev V.V. "Opyit ispolzovaniya shagayuschey mashinyi dlya likvidatsii avariynogo razliva nefti [Experience in using a stepping machine to eliminate accidental oil spills]" , Life Safety 5 (2003): 28-30.
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[13] Jun B.H., Shim H., Kim B., Park J.Y., Baek H., Yoo S. and Lee P.M. "Development of seabed walking robot CR200" , In 2013 MTS/IEEE OCEANS-Bergen (2013): 1-5.
[14] Shim H., Yoo S.Y., Kang H. and Jun B.H. "Development of arm and leg for seabed walking robot CRABSTER200" , Ocean Engineering 116 (2016): 55-67.
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[16] Shanyigin S.V. "Robotyi, kak sredstvo mehanizatsii selskogo hozyaystva [Robots as a means of mechanization of agriculture]" , News of higher educational institutions. Engineering 3 (2013): 39-42.
[17] Briskin E.S., Shurygin V.A., Chernyshev V.V., Maloletov A.V., Sharonov N.G., Kalinin Ya V., Leonard A.V., Serov
V.A., Mironenko K.B. and Ustinov S.A. "Problems of increasing efficiency and experience of walking machines elaborating" , In Advances on Theory and Practice of Robots and Manipulators. Springer (2014): 383-390.
[18] Silva M.F., Machado J.T. and Lopes A.M. "Energy analysis of multi-legged locomotion systems" , In Proc.
CLAWAR’2001–4th International Symposium on Climbing and Walking Robots (2001): 143-150.
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[21] Bongard J. "Morphological change in machines accelerates the evolution of robust behavior" , Proceedings of the National Academy of Sciences 108(4) (2011): 1234-1239.
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[23] Bongard J. "Behavior Chaining-Incremental Behavior Integration for Evolutionary Robotics" , In ALIFE (2008): 64-71.
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http://papers.cumincad.org/data/works/att/caadria2018_140.pdf.
[26] Mitchell M. "An introduction to genetic algorithms" , MIT press, 1998, 203.
[27] Haupt R.L. and Haupt S.E. "Practical genetic algorithms" , John Wiley and Sons, 2004, 251.
[28] B¨acher M., Coros S. and Thomaszewski B. "LinkEdit: interactive linkage editing using symbolic kinematics" , ACM Transactions on Graphics (TOG) 34(4) (2015): 99.
[29] Komoda K. and Wagatsuma H. "A proposal of the extended mechanism for Theo Jansen linkage to modify the walking elliptic orbit and a study of cyclic base function" , In Proceedings of the 7th Annual Dynamic Walking Conference (DWC’12) (2012).
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Akzhalova, A., Mukharsky, D., & Sadu, A. (2019). Сглаживание траектории центра масс робота методом генетического отбора. Вестник КазНУ. Серия математика, механика, информатика, 101(1), 96–114. https://doi.org/10.26577/JMMCS-2019-1-605
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