Using computer simulation of the hand movement of an anthropomorphic robot to determine the position of its base relative to objects of manipulation

The subject of the study is the use of an intelligent hand movement control system of an anthropomorphic robot when performing operations of placing objects of manipulation in a container of specified dimensions. The object of the study is the process of determining the parameters of the relative position of the base of the hand in relation to the objects of manipulation and the container, in which it is possible to perform motor tasks. The author examines in detail the algorithm for determining the position of the base of the arm of an anthropomorphic robot using the synthesis of movements along the velocity vector when solving the problem of installing manipulating objects specified in the form of rectangular prisms into a container. Special attention is paid in the article to the methodology of determining the center of the coordinate system associated with the base of the robot in a fixed space and calculating the target points to which the center of the output link moves at various positions of previously installed manipulation objects in the container.   The essence of the method is to use computer simulation of the movement of an anthropomorphic robot using the synthesis of movements along the velocity vector with an assessment of the relative position of the arm mechanism and restricted areas. Previously installed manipulation objects located inside the container and the side walls of the container itself act as restricted areas. The main conclusions of the presented study are the possibility of using the developed algorithm to test the synthesis of hand movements with given geometric parameters that set the position of an anthropomorphic robot, conveyor and container, in which there is no occurrence of deadlocks. The novelty of the research consists in the development of a method based on an iterative search for the values of the parameters of the mutual position of the base of the arm, conveyor and container at each iteration in case of deadlock situations. The results of calculations of the position of the base of the robot arm and intermediate configurations constructed using computer simulation of movements based on the use of the developed algorithm are presented. The conducted research can be used in the development of information and control complexes of mobile objects, in particular in the development of intelligent control systems for autonomously functioning anthropomorphic robots in organized environments.

intelligent control systems, manipulator mechanisms, geometric modeling, computer modeling, movement synthesis, anthropomorphic robots, deadlocks, kinematic chain model, objects of manipulation, output link