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Comparison of Spider-Robot Information Models Kravchenko, Viktor V.; Efremov, Artem A.; Zhilenkov, Anton A.; Kozlov, Vladimir N.; Silkin, Artem A.; Moiseev, Ilya S.; Krupinin, Oleg; Lebedeva, Ekaterina
Journal of Robotics and Control (JRC) Vol 4, No 5 (2023)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v4i5.19533

The paper deduces a mathematical model of a spider-robot with six three-link limbs. Many limbs with a multi-link structure greatly complicate the process of synthesizing a model, since in total the robot has twenty-four degrees of freedom, i.e., three coordinates of the center of mass of the body in space, three angles of rotation of the body relative to its center of mass and three degrees of freedom for each limb, to describe the position of the links. The derived mathematical model is based on the Lagrange equations with a further transformation of the equations to the Cauchy normal form in a matrix form. To test the resulting model in a SimInTech environment, an information model is synthesized and two simple experiments ar carried out to simulate the behavior of real spiders: moving forward in a straight line and turning in place at a given angle. The experimental results demonstrate that the synthesized information model can well cope with the tasks and the mathematical model underlying it can be used for further research.

Overvoltage and Oscillation Analysis for a Full-Bridge Isolated DC-DC Converter Avdeev, Boris A.; Vyngra, Aleksei V.; Zhilenkov, Anton A.; Chernyi, Sergei G.; Degtyarev, Andrey; Kustov, Aleksandr; Zinchenko, Anton
Journal of Robotics and Control (JRC) Vol 5, No 6 (2024)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v5i6.23120

The paper deals with determining and eliminating overvoltage’s and ripples from the output of a high-frequency inverter bridge in a full-bridge DC converter. These oscillations can cause overvoltage on the elements of the power converter, which in turn can lead to false triggering of semiconductor keys or their failure. Schematic diagrams of the bridge are given; the principle of its operation is described. A simplified equivalent circuit replaces the classic bridge. A qualitative analysis of transient processes in the resulting scheme is made. The voltage at the output of the bridge is found using the operator method. The findings have been compared with the simulation model executed in MATLAB/Simulink. The presented method is less labor-intensive than simulation modeling and allows for faster and easier verification of the permissible overvoltage level and oscillation frequency, which is especially important in devices containing a large number of nonlinear elements. It is shown how the parameters of the bridge affect the performance of the transient, in particular the overshoot and oscillation frequency. The attained dependencies are shown in graphical form. The ways of improving the quality of the transition process are given. The findings have been verified on an experimental setup. The obtained theoretical results are consistent with the results of the experiment with the data of other researchers.

Mathematical Model of a Robot-spider for Group Control Synthesis: Derivation and Validation Kravchenko, Viktor V.; Efremov, Artem A.; Zhilenkov, Anton A.; Kozlov, Vladimir N.; Kristina, Grycshenko; Anton, Popov; Mark, Psarev; Mikhail, Serebryakov
Journal of Robotics and Control (JRC) Vol 4, No 6 (2023)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v4i6.20325

A six-legged spider robot is a complex object from the point of view of the problem of synthesizing a system for controlling its movement. To synthesize an advanced control system for such a robot, which must solve non-trivial problems of overcoming obstacles, functioning under conditions of external disturbances, etc., we first solve the problem of synthesizing an information model of the object, on the basis of which its control system will subsequently be built.The paper compares two methods for synthesizing the information model of a six-legged spider-robot. In the first method, an information model is automatically synthesized from a CAD model of a spider-robot in a MATLAB-based graphical programming environment Simulink. In the second method, the information model is synthesized in the environment of dynamic modeling of technical systems SimInTech on the basis of a system of differential equations in the Cauchy form. Control loops and external influences are added to the information models synthesized in each of the modeling environments. The study showed that each of the resulting models has both its own individual advantages and disadvantages. They are mainly related to taking into account the mutual influence of various blocks of models on each other. It is shown that, in the end, the two models complement each other and make it possible to obtain an advanced basis for further synthesis of the motion control system.The results obtained in this work make it possible to use information models as a basis for the development of a control system for a physical model of a six-legged spider-robot, printed on a 3D printer and assembled on the basis of the Arduino hardware platform.

Overvoltage and Oscillation Analysis for a Full-Bridge Isolated DC-DC Converter Avdeev, Boris A.; Vyngra, Aleksei V.; Zhilenkov, Anton A.; Chernyi, Sergei G.; Degtyarev, Andrey; Kustov, Aleksandr; Zinchenko, Anton
Journal of Robotics and Control (JRC) Vol. 5 No. 6 (2024)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v5i6.23120

The paper deals with determining and eliminating overvoltage’s and ripples from the output of a high-frequency inverter bridge in a full-bridge DC converter. These oscillations can cause overvoltage on the elements of the power converter, which in turn can lead to false triggering of semiconductor keys or their failure. Schematic diagrams of the bridge are given; the principle of its operation is described. A simplified equivalent circuit replaces the classic bridge. A qualitative analysis of transient processes in the resulting scheme is made. The voltage at the output of the bridge is found using the operator method. The findings have been compared with the simulation model executed in MATLAB/Simulink. The presented method is less labor-intensive than simulation modeling and allows for faster and easier verification of the permissible overvoltage level and oscillation frequency, which is especially important in devices containing a large number of nonlinear elements. It is shown how the parameters of the bridge affect the performance of the transient, in particular the overshoot and oscillation frequency. The attained dependencies are shown in graphical form. The ways of improving the quality of the transition process are given. The findings have been verified on an experimental setup. The obtained theoretical results are consistent with the results of the experiment with the data of other researchers.

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