Transport-by-Throwing — робототехнический способ перемещения предметов перебросом: обзор используемых методов

К. В. Миронов

Аннотация


Перемещение предметов перебросом — это перспективный способ робототехнической транспортировки деталей в гибких производственных системах. В данном обзоре анализируются известные методы, используемые при реализации данного подхода. В плане аэродинамики баллистического движения приводятся общие сведения, рассматриваются соответствующие вопросы оружейной баллистики и аэродинамики летательных аппаратов; результаты исследования аэродинамики спортивных мячей и сходных объектов. Обозреваются подходы к статистической оценке баллистических кривых. Рассматриваются результаты в области визуального отслеживания (трекинга) движущихся объектов: захват движения с помощью прикрепленных к объекту датчиков; использование структурированного света и времяпролетных сенсоров; монокулярного зрения; стереовидения. Обсуждаются подходы к робототехническому захвату и транспортировке перебросом: бросок и захват; транспортировка броском; сравнение подходов. Рассматриваются вопросы прогнозирования траектории в данной задаче: захват без предсказания; прогнозирование с использованием физических моделей, с помощью нейронной сети;  с помощью алгоритма ближайших соседей.

Ключевые слова


Робототехническая система; транспортировка; переброс; захват; статистическая оценка баллистических кривых; трекинг движущихся объектов; алгоритм ближайших соседей.

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Литература


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