Scopus Publications
- Estimation of the Suboptimal Control Accuracy in the Fastest Possible Bringing of a Physical Pendulum to an Arbitrary Position
Olga M. Kapustina, Alexander I. Kobrin, Anastasia D. Zhuravleva
International Youth Conference on Radio Electronics Electrical and Power Engineering Reepe, 2025
The approximate suboptimal control synthesis is considered in the classical problem of the fastest transfer of a nonlinear inertial oscillator (satellite in a circular orbit, a person on a mobile transport device, elements of controlled manipulators, exoskeletons) to an arbitrary position, in which the angular velocity is zero. The control engine torque magnitude is limited by k. In this paper, the control accuracy is estimated by mismatch of the time it takes the phase point to reach the same terminal position, when moving along different trajectories, starting from the suboptimal dispersal curve. In that case no complex numerical construction of the optimal dispersal curve is required. For various sufficiently large k, when relay control is realized by no more than one switching, and arbitrary terminal positions, not necessarily equilibrium, the accuracy estimates of the suboptimal method, phase portraits of controlled movements, switching curves, and suboptimal dispersal curves are presented. - Computer Models of an Optimally Controlled Inverted Physical Pendulum
Olga M. Kapustina, Alexander I. Kobrin, Danil R. Andreev
2024 7th International Conference on Information Technologies in Engineering Education Inforino 2024 Proceedings, 2024
A physical pendulum controlled by a motor located at a fixed point of suspension is considered in the work. The task is to bring and stabilize this pendulum in the upper unstable equilibrium position. Such a pendulum can be considered as a model of a person standing on an individual Segway-type vehicle. Two engine control algorithms based on the readings of the rotation angle and angular velocity sensors of the pendulum are considered. One of these algorithms maximizes the area of attraction of the upper equilibrium position, the second algorithm allows you to bring the pendulum to this position with minimal energy costs. Computer graphic illustrations help to understand the essence of these control algorithms. The construction of such drawings and animations based on the results of integrating differential equations of the controlled movement of a pendulum under various control laws is a meaningful educational task. This problem is solved by master’s students of the Department of Robotics, Mechatronics, Dynamics and Strength of Machines of the National Research University Moscow Power Engineering Institute when they study the course “Stability and stabilization of motion of dynamic systems.” The article discusses an example of performing such computational and graphical work using the Mathematica computer algebra system. Students present the result of the assignment in the form of a Mathematica program, a file with the nb extension. Such a program, as is known, contains text and executable cells, which allows you to ask not only questions involving symbolic transformations, numerical and analytical solutions, graphic constructions. It is also possible to formulate theoretical problems, the answer to which must be given in the form of text. The package Mathematica is available freely online on WolframCloud. To complete the task, the freely distributed computer algebra system Maxima can be used. - A Dynamicly Consistent Model of Normal Reactions at Points of a Mobile Platform Contact with a Surface Taking Account of the Design of Mecanum Wheels and Multicomponent Friction
G. R. Saipulaev, B. I. Adamov, A. I. Kobrin
Mechanics of Solids, 2023 - Comparative Analysis of the Dynamics of a Spherical Robot with a Balanced Internal Platform Taking into Account Different Models of Contact Friction
G. R. Saypulaev, B. I. Adamov, A. I. Kobrin, and
Russian Journal of Nonlinear Dynamics, 2022
The subject of this paper is a spherical robot with an internal platform with four classic-type omniwheels. The motion of the spherical robot on a horizontal surface is considered and its kinematics is described. The aim of the research is to study the dynamics of the spherical robot with different levels of detailing of the contact friction model. Nonholonomic models of the dynamics of the robot with different levels of detailing of the contact friction model are constructed. The programmed control of the motion of the spherical robot using elementary maneuvers is proposed. A simulation of motion is carried out and the efficiency of the proposed control is confirmed. It is shown that, at low speeds of motion of the spherical robot, it is allowed to use a model obtained under the assumption of no slipping between the sphere and the floor. The influence of the contact friction model at high-speed motions of the spherical robot on its dynamics under programmed control is demonstrated. This influence leads to the need to develop more accurate models of the motion of a spherical robot and its contact interaction with the supporting surface in order to increase the accuracy of motion control based on these models. - Modeling of the Industrial Manipulator Based on PLC Siemens and Step Motors Festo
Pavel Ganin, Alexander Kobrin
Proceedings of Itnt 2020 6th IEEE International Conference on Information Technology and Nanotechnology, 2020
In this paper, we present modeling of the industrial manipulator with 5 degrees of freedom that is using the software package Matlab Simulink. This model allows to evaluate the dynamic and static characteristics of the manipulator. The paper considers the possibility of solving the inverse kinematics using numerical methods. Also, a virtual environment that displays model motion in real-time using a virtual 3-D model is presented in the paper. As an example, the paper shows applying the results of the work to the physical model of the manipulator. That model uses the Festo stepper motors and the PLC Siemens. This work was performed in the Festo faculty of Moscow Power Engineering Institute. - Research on Mobile Manipulators Singular Kinematics by Computer Algebra Systems
O. M. Kapustina, A. I. Kobrin
2020 5th International Conference on Information Technologies in Engineering Education Inforino 2020 Proceedings, 2020
Using the KUKA youBot mobile manipulator for research and education as an example, concepts such as kinematic redundancy, the Jacobian matrix of a robot, singular configurations, and manipulability are analyzed applying Mathematica. Examples of research work with the participation of undergraduates are given, including animation of the KUKA youBot movements that are not implemented in singular configurations. - Constructive Method of Decomposition in Singularly Perturbed Problems of Non-holonomic Mechanics
Alexander Kobrin, Vladimir Sobolev
Trends in Mathematics, 2019 - Synthesis of real-time control systems for multilink industrial robots based on hybrid neural network approach of solution inverse kinematics problem
Pavel Ganin, Alexandr Kobrin, Denis Shilin, Valery Moskvin, Dmitrii Shestov
Annals of Daaam and Proceedings of the International Daaam Symposium, 2019 - The Use of Stabilography in the Problem of Maintaining the Vertical Posture in the Study of the Effect of the Limitation of Mobility of the Human Joints
A.I. Kobrin, N. D. Babanov
2018 4th International Conference on Information Technologies in Engineering Education Inforino 2018 Proceedings, 2018
The use of equipment and software that allows to investigate the power characteristics of human interaction with the support (support reactions), provides opportunities for training specialists. Such areas are, for example, the design of anthropomorphic robots, the design of exoskeletons and prosthetic limbs. The purpose of the work is demonstration of the possibility of using one of the technologies of the industry 4.0 when training highly qualified specialists in Moscow Power Engineering Institute. One of the skills of such specialists is the possession of methods for recording and using biological signals. Using the three-tier and two-tier models of a person, the method of using the stabilographic platform as a research tool for solving the problem of maintaining the vertical posture is shown. Qualitative estimates of the position of human equilibrium using the main indicators of statokinesiograms were obtained. The prospects of using the stabilographic complex are discussed. For example, when organizing student experimental and theoretical laboratory work in the field of industry 4.0. - Redundant Manipulator Control System Simulation with Adaptive Neural Network and Newton-Raphson Refinement Algorithm
P. Ganin, A. Kobrin
2018 4th International Conference on Information Technologies in Engineering Education Inforino 2018 Proceedings, 2018
In the paper we consider modeling of a manipulator that is based on hybrid method of solving inverse kinematics (IK) problem with using adaptive neuro-fuzzy inference system (ANFIS) and an algorithm for iterative refinement by Newton-Raphson method. The process of control system synthesis for the multi-link redundant manipulator with the use of a programmable logic controller (PLC) is also demonstrated. The presented control system provides controlled accuracy of calculations in real-time systems. This method of solving IK problem could be applied for various constructions of manipulator with different parameters, this advantage makes the control system cross-platform. Simulation of the developed control system was performed in the Matlab environment. A mathematical equations of the constructing the manipulator workspace and an example of training neural networks of the control system are given. The results of the solution of IK problem are presented. - Decomposition of nonholonomic mechanics models
A Kobrin, V Sobolev
Journal of Physics Conference Series, 2018 - Multi-robot Voronoi tessellation based area partitioning algorithm study
Vladimir Alexandrov, Konstantin Kirik, Alexander Kobrin
Paladyn, 2018 - Redundant industrial manipulator control system
P. Ganin, V. Moskvin, A. Kobrin
2017 International Conference on Industrial Engineering Applications and Manufacturing Icieam 2017 Proceedings, 2017 - Integral manifolds of fast-slow systems in nonholonomic mechanics
Alexander Kobrin, Vladimir Sobolev
Procedia Engineering, 2017 - Methods of analytical mechanics in the constrained adaptive identification problems
B. I. Adamov, A. I. Kobrin
Moscow University Mechanics Bulletin, 2016 - A hardware-based modeling approach for real world collaborative multi-robot tasks
Vladimir Alexandrov, Konstantin Kirik, Alexander Kobrin
Paladyn, 2016 - Generalized stochastic spiking neuron model and extended spike response model in spatial-temporal pulse pattern detection task
O. Y. Sinyavskiy, A. I. Kobrin
Optical Memory and Neural Networks Information Optics, 2010 - Mobile robot-football player control via the artificial life method
Annals of Daaam and Proceedings of the International Daaam Symposium, 2008 - Decomposition of the problem of controlling a mobile one-wheel robot with an unperturbed gyrostabilized platform
Yu. G. Martynenko, A. V. Lenskii, A. I. Kobrin
Doklady Physics, 2002 - The decomposition of control problem for single wheel mobile robot with on unperturbed gyroscopically stabilized platform
Doklady Akademii Nauk, 2002
