The subject of research work of the department "Robotic systems": automation of technological processes and production in the field of mechanical engineering and energy consumption, as well as in the financial and commercial sectors. Particular attention is paid to the problems of robotics.
Scientific directions of research:
The research topics of the department correspond to the priority areas of fundamental and applied scientific research of the Republic of Belarus, namely, “methods of mathematical and computer modeling, computer technologies and intelligent decision support systems” (paragraph 5.1 of the Decree of the Council of Ministers of the Republic of Belarus dated April 19, 2010 No. 585).
The forms of research work of students at the Department of Robotic Systems are as follows:
attracting students to work on state budget and economic contract topics (including with payment);
the work of students on course and diploma design, which has a research bias;
individual work with the supervisor;
participation in the work of subject and scientific circles;
preparation of reports at the conference;
preparation of scientific papers and participation in the Republican competitions of scientific papers of students;
publication of scientific articles and abstracts.
Also, the department is actively engaged in research and development work in the field of ANALYTICAL PROGRAMMING OF INDUSTRIAL ROBOTS AND ROBOT TECHNICAL COMPLEXES. Main directions of scientific research: Development of a technique for modeling typical kinematic schemes of manipulators; Development of an original algorithm for calculating the inverse Jacobian; Development of an original algorithm for collision analysis with obstacles; Development of an original method for checking the syntax of the control program text; Development of a user-friendly interface and implementation of the system for various operating systems.
The staff of the department is the organizer of the annual scientific and practical conference
XII International Scientific and Practical Conference
"Innovative Technologies, Automation and Mechatronics in Machine and Instrument Engineering"
together with MinskExpo within the framework of the exhibition "Automation, Electronics - 2025"
Joint scientific and educational project
Space Engineering & Robotics Education
Cooperation is developing within the framework of the ERASMUS + program "Applied Educational Programs in the Field of Space Research and Intelligent Robotic Systems" (APPLE).
Facebook page
Official website of the APPLE project
The current topic of the research work of the department:
DEVELOPMENT OF METHODS AND ALGORITHMS FOR ANALYTICAL PROGRAMMING OF INDUSTRIAL ROBOTS AND ROBOT TECHNICAL COMPLEXES
The main objective of the project:
Development of a system for analytical programming of robots and robotic complexes with elements of integration into standard universal CAD/CAST. The goals of scientific developments are the implementation of an analytical programming system both for certain models and classes of PR and RTK, and the possibility, if necessary, of building up the system with the introduction of elements of universality.
Relevance of the problem:
The use of industrial robots (IR) and robotic systems (RC) in modern production involves end-to-end automation of all processes associated with both the development and manufacture of products. In this regard, one of the important tasks facing robot software developers is to automate the process of creating programs for industrial robots.
There are three methods of robot programming today: learning mode programming, robot programming language programming, and analytical programming. The most promising and rapidly developing method is analytical programming (off-line programming), which is a technique for partial or complete development of programs without the direct use of a robot.
The simplest off-line programming systems are a stand-alone module that includes graphic modeling tools, a subsystem for modeling robot kinematics, a text editor, and means for transferring control programs to a robot. The greatest efficiency from the use of such systems is achieved when they are integrated with computer-aided design systems CAD/CAPP.
Modern off-line programming tools integrated into CAD should be invariant both to different models of robots and to their areas of application. In addition, they must ensure compatibility with various types of controllers and take into account errors in the implementation of the process environment.
The development of each of them is associated with the solution of some specific tasks, the complexity of which increases rapidly as the system becomes universal (expansion of the range of serviced robots). The system must be universal (because a system that is not universal enough is ineffective), but at the same time it must not become too complex, otherwise its use is difficult.
The systems of analytical programming of robots that exist today are divided into two classes. The former are autonomous systems focused on a narrow class of robots. These include VAL (Unmation), Sigla (Olivetti), AML (IBM), MCL (McDonnell Douglas), ACRAMITIC (Cincinnati Milacron) and others. SATP. The most famous CAD systems used in RTK design are CATIA, RobCAD, CimStation, IRIP packages. Due to the fact that the method of analytical programming is closely related to the CAD/CAM technology, the creation of the second class of systems is more preferable today.
The foreign computer-aided design systems developed to date usually solve the problems of macro-design of PR and RTK and the simplest synthesis problems. This is primarily due to the complexity of formalizing universal tasks, as well as the fact that when designing systems that are optimal in the technical and economic sense, it is necessary to satisfy a number of mutually contradictory requirements. At the same time, these systems can only be installed on expensive graphics stations such as Silicon Graphics and Sun. Unlike them, domestic systems are, as a rule, highly specialized. They specialize either in solving problems for specific models of industrial robots, or in specific industries. At the same time, they are implemented for older operating systems.
The creation of a system for analytical programming of robots with elements of integration into standard universal CAD/CAST is the topic of scientific research of the Department of Robotic Systems. The goals of scientific developments are the implementation of an analytical programming system both for certain models and classes of PR and RTK, and the possibility, if necessary, of building up the system with the introduction of elements of universality. The developed system for analytical programming of robots should function on computers of the PC class under the most widely used Windows operating system.
The main results of the project:
During the work on this issue, the main elements of the system for analytical programming of robots with elements of integration into universal CAD/CAMs have been developed. The developed system of analytical programming has all the functionality inherent in typical systems of analytical programming of a robot:
the availability of a three-dimensional model of the environment, i.e. data on the geometric properties and relationships of objects located in the workspace; creation of a kinematic model of the robot (including restrictions on the movement of links and the speed of these movements); availability of a tool for creating control programs for robots, including a programming language interpreter;
availability of means for checking programs developed by the system. For example, compliance with the working ranges of movement of links and the absence of collisions of the manipulator with objects in the workspace can be checked;
availability of means for transferring control programs from the analytical programming system to robot control devices;
user friendliness. The person working with the analytical programming system does not interact with the robot. In order for him to be able to formalize his professional knowledge most fully and effectively, it is necessary that the analytical programming system has a user-friendly interface.
The versatility of the system is ensured by the development of a PR computer-aided design module. The module is designed to create its own database of typical kinematic schemes of manipulators, including graphical representations of three-dimensional PR models built on the basis of the entered kinematic parameters, solutions of direct and inverse kinematic problems (PZK-OZK).
The system allows designing layouts of various RTCs based on existing graphical primitives of three-dimensional objects and includes an editor for the PR and RTC environments.
The versatility of the system is also ensured by the generation of control programs using a format conversion program, which is selected from the database based on the type of control system used, and is designed to convert the control program from the internal format of the analytical programming system to the format of the corresponding control system.
The main results that have scientific and technical novelty are:
Development of a methodology for modeling typical kinematic schemes of manipulators.
Development of an original algorithm for calculating the inverse Jacobian.
Development of an original algorithm for collision analysis with obstacles.
Development of an original method for checking the syntax of the control program text.
Development of a user-friendly interface and implementation for various operating systems.
Directions for further research.
Further research should be aimed at creating:
Elements of adaptive control of the PR;
Development of methods for synthesizing RC layouts that ensure the optimal location of objects in the working area of the PR, as well as the distribution of technological operations between robots;
Expansion of the base of primitives of three-dimensional objects.
