INSON-ROBOT HAMKORLIGIDA MEXATRON TIZIMNING HARAKAT TRAYEKTORIYASINI ADAPTIV BOSHQARISH MODELLARI
Keywords:
Kalit so‘zlar: mexatron tizim, inson-robot hamkorligi (HRI), kinematik model, harakat trayektoriyasi, adaptiv boshqaruv, servo-privodlar, Denavit-Xartenberg, dinamik korreksiya, ISO/TS 15066.Abstract
Annotatsiya. Ushbu ilmiy maqolada ta’lim va amaliy laboratoriya jarayonlarida inson bilan xavfsiz va uzluksiz hamkorlikni ta’minlovchi ko‘p bo‘g‘inli mexatron ta’lim robotining fazoviy kinematik modeli hamda uning harakatlarini inson reaksiyalariga moslashtiruvchi adaptiv boshqaruv algoritmlari ishlab chiqilgan. Inson-mashina o‘zaro hamkorligi tizimlarida an’anaviy qat’iy dasturlashtirilgan harakat trayektoriyalarining inson kognitiv va jismoniy xatti-harakatlariga yetarli darajada moslashmasligi asosiy ilmiy muammo hisoblanadi. Tadqiqotda robotning fazoviy zvenolari uchun Denavit-Xartenberg parametrlari asosida to‘g‘ri kinematik tenglamalar tuzilgan hamda insonning audio-vizual sensor signallariga asoslangan yopiq siklli adaptiv boshqaruv qonuni shakllantirilgan. Tizim operatorning ma’lumotlarni idrok etish sur’ati va xatoliklar darajasiga bog‘liq holda ijrochi servo-privodlarning burchak tezligi va fazoviy amplitudasini dinamik tartibga soladi. MATLAB/Simulink hamda Robot Operating System (ROS) muhitida o‘tkazilgan simulyatsiyalar adaptiv korreksiya moduli privodlarning o‘tish jarayonidagi dinamik tebranishlarini 24.6% ga qisqartirishini, nigoh yo‘nalishini aniqlash va moslashishdagi kechikish vaqti esa 85 ms dan oshmasligini tasdiqladi.
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