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Proceedings Paper

Grounds for mechatronic system development of the optical devices position dynamic stabilization of a mobile terrestrial robotic system
Author(s): Serhii Strutynskyi; Waldemar Wójcik; Sandugash Orazalieva
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Paper Abstract

The terrestrial robotic complex with optical devices installed on the manipulator is considered. It is shown that there are intensive oscillation of the manipulator during the complex movement deteriorating the quality of the image as a result of the displacement of cameras. Controlled damping devices are suggested for the manipulator position dynamic stabilization. Devices are controlled with the mechatronic system. Grounds for mechatronic system development are accomplished by means of mathematical modeling. A mathematical model of dynamics of a mobile robotic complex is developed. The "quasi-hard" movement of the chassis with a manipulator is considered and the dynamic model of the complex is presented as one solid. Approbation of the model by means of intermediate processes calculation is carried out. The possibility of developing a manipulator position dynamic stabilization mechatronic system with optical surveillance devices installed on it by means of mathematical modeling of a mobile robotic complex is substantiated.

Paper Details

Date Published: 6 November 2019
PDF: 10 pages
Proc. SPIE 11176, Photonics Applications in Astronomy, Communications, Industry, and High-Energy Physics Experiments 2019, 1117610 (6 November 2019); doi: 10.1117/12.2536905
Show Author Affiliations
Serhii Strutynskyi, National Technical Univ. of Ukraine (Ukraine)
Waldemar Wójcik, Lublin Univ. of Technology (Poland)
Sandugash Orazalieva, Almaty Univ. of Power Engineering and Telecommunications (Kazakhstan)


Published in SPIE Proceedings Vol. 11176:
Photonics Applications in Astronomy, Communications, Industry, and High-Energy Physics Experiments 2019
Ryszard S. Romaniuk; Maciej Linczuk, Editor(s)

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