Grounds for mechatronic system development of the optical devices position dynamic stabilization of a mobile terrestrial robotic system

Serhii Strutynskyi; Waldemar Wójcik; Sandugash Orazalieva

doi:10.1117/12.2536905

6 November 2019 Grounds for mechatronic system development of the optical devices position dynamic stabilization of a mobile terrestrial robotic system

Serhii Strutynskyi, Waldemar Wójcik, Sandugash Orazalieva

Author Affiliations +

Proceedings Volume 11176, Photonics Applications in Astronomy, Communications, Industry, and High-Energy Physics Experiments 2019; 1117610 (2019) https://doi.org/10.1117/12.2536905
Event: Photonics Applications in Astronomy, Communications, Industry, and High-Energy Physics Experiments 2019, 2019, Wilga, Poland

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.

Citation Download Citation

Serhii Strutynskyi, Waldemar Wójcik, and Sandugash Orazalieva "Grounds for mechatronic system development of the optical devices position dynamic stabilization of a mobile terrestrial robotic system", Proc. SPIE 11176, Photonics Applications in Astronomy, Communications, Industry, and High-Energy Physics Experiments 2019, 1117610 (6 November 2019); https://doi.org/10.1117/12.2536905

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available