CASPIAN JOURNAL
MANAGEMENT AND HIGH TECHNOLOGIES
The NETWORK control system of MANIPULATOR OF A MILKING ROBOT
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Read | Sirotkin Ilya A., Vorotnikov Sergey A The NETWORK control system of MANIPULATOR OF A MILKING ROBOT // Caspian journal : management and high technologies. — 2018. — №1. — pp. 205-215. |
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Sirotkin Ilya A. - student, Bauman Moscow State Technical University, 5, 2nd Baumanskaya St., Moscow, 105007, Russian Federation, ilsir95@gmail.com
Vorotnikov Sergey A - Cand. Sci. (Engineering), Associate Professor, Bauman Moscow State Technical University, 5, 2nd Baumanskaya St., Moscow, 105007, Russian Federation, vorotn@bmstu.ru
The paper shows the importance of solving the issues of increasing labor productivity in the field of dairy farming, incl. by means of technological processes automation. It is justified that one of the directions of such automation can be the usage of milking robots. A kinematic scheme of a three-link manipulator of such a robot is described. A multi-level hierarchical control system for the manipulator is presented, and the manipulator prototype is described. A method for controlling a manipulator with tracking pneumatic drives based on the use of an artificial neural network is proposed. The paper presents the results of modeling the manipulator work and the drawbacks of using the basic version of the solution. An artificial neural network training algorithm is proposed, which makes it possible to increase the efficiency of its usage for the manipulator control. A mathematical model of a tracking pneumatic drive was created in the MATLAB environment. The results of its modeling are presented, and the content analysis is carried out. The analysis results prove the potential of the proposed kinematic scheme and algorithms for the milking robot manipulator control.
Key words: манипулятор доильного робота, кинематическая схема, система управления, искусственная нейронная сеть, алгоритм обучения, следящий пневматический привод, математическое моделирование, обобщенные координаты, milking robot manipulator, kinematic diagram, con