title: Ð Ð°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð° Ð²Ð·Ð°Ð¸Ð¼Ð¾Ð´ÐµÐ¹ÑÑÐ²Ð¸Ñ Ð¼Ð¾Ð±Ð¸Ð»ÑÐ½ÑÑ Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾ÑÐ¾Ð² Ð¿ÑÐ¸ ÑÐ±Ð¾ÑÐºÐµ ÑÐ¾ÑÑÐ°Ð²Ð½ÑÑ Ð¾Ð±ÑÐµÐºÑÐ¾Ð²
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð±Ð°ÐºÐ°Ð»Ð°Ð²ÑÐ°
titleType: Subtitle
title: Development of an algorithm for the interaction of mobile manipulators when assembling composite objects
Creators: name: Ð¡ÐµÐ¼ÐµÐ½Ð¾Ð², ÐÐ¸ÐºÐ¾Ð»Ð°Ð¹
Publisher: name: Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³ÑÐºÐ¸Ð¹ Ð¿Ð¾Ð»Ð¸ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ½Ð¸Ð²ÐµÑÑÐ¸ÑÐµÑ ÐÐµÑÑÐ° ÐÐµÐ»Ð¸ÐºÐ¾Ð³Ð¾
Year: 2023
Subjects: Ð°Ð²ÑÐ¾Ð¼Ð°ÑÐ¸ÑÐµÑÐºÐ°Ñ ÑÐ±Ð¾ÑÐºÐ°
Ð¼Ð¾Ð±Ð¸Ð»ÑÐ½ÑÐ¹ Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾Ñ
Ð³ÑÑÐ¿Ð¿Ð° ÑÐ¾Ð±Ð¾ÑÐ¾Ð²
Ð´ÐµÐºÐ¾Ð¼Ð¿Ð¾Ð·Ð¸ÑÐ¸Ñ Ð¼Ð¾Ð´ÐµÐ»Ð¸
ÑÐ°ÑÐ¿ÑÐµÐ´ÐµÐ»ÑÐ½Ð½Ð°Ñ ÑÐ¸ÑÑÐµÐ¼Ð°
ÑÐµÑÐµÐ²Ð¾Ðµ Ð²Ð·Ð°Ð¸Ð¼Ð¾Ð´ÐµÐ¹ÑÑÐ²Ð¸Ðµ
automatic assembly
mobile manipulator
group of robots
model decomposition
distributed system
network interaction

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description: The purpose of the work is to develop an algorithm for the interaction of a group of mobile manipulators in the context of assembling composite objects. In this work, items of home furniture are chosen as such objects. The object of study is both the existing multi-agent implementations of assembly tasks and their individual components, namely, methods for calculating the sequence of the assembly process, methods for positioning assembly parts, methods for coordinating robots in a group and distributing tasks. In the course of the work, previous studies in the field of collaborative robotic systems, precise movement of objects by means of manipulators and vision systems in the tasks of perceiving the state of an assembled object, as well as existing implementations of the control algorithm for a complex of mobile manipulators, designed to ensure the implementation of tasks of automatic assembly of composite objects, are considered. Based on the results of the analysis of existing implementations, their features and shortcomings were identified. An assembly algorithm is proposed that eliminates the identified shortcomings and touches upon the decomposition of the assembly model in order to create an adaptive assembly complex. The algorithm is decomposed into component parts, methods for their implementation are proposed. The hardware base for testing has been selected, and it has been improved. A set of tests was carried out, a conclusion was made about the degree of reliability of the algorithm. A list of corrections and further improvements is proposed.