Organizing Interactions Between a Robotic Manipulator and a Technological Equipment Control Panel

Abstract

Algorithms for the organization of standalone operation of a robotic manipulator have been considered in this Article. The controls on the control panel of a man-made equipment piece have been the manipulated object. A robotic manipulator fitted with a control system, and a machine vision system, have been the subsystems under study. The robotic manipulator interacts with the objects to switch on and off a toggle switch, turn a rotary switch, press on a pushbutton, etc. Manipulating the objects in question involves assessing of their positions and orientations, which is achieved through the machine vision system. Coordinated operation of the subsystems is required to plan and to implement control of the manipulator, while taking into account positions of the objects relative to each other. A configuration of interactions between the manipulator and the control panel, a method for organizing coordinated functioning of the machine vision system when manipulating controls, which includes assessing positions of the object of interest relative to the robotic manipulator, and an algorithm for planning control based on artificial neural network technology have been presented in this Article.