A review on control systems hardware and software for robots of various scale and purpose. Part 2. Service robotics
A review of robotic systems was carried out. The paper analyzes applied hardware and software solutions and summarizes the most common block diagrams of control systems. The analysis of approaches to control systems scaling, the use of intelligent control, the achievement of fault tolerance, and the...
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| Format: | Article |
| Language: | Russian |
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MIREA - Russian Technological University
2020-01-01
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| Series: | Российский технологический журнал |
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| Online Access: | https://www.rtj-mirea.ru/jour/article/view/182 |
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| _version_ | 1832543439048146944 |
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| author | Aleksey M. Romanov |
| author_facet | Aleksey M. Romanov |
| author_sort | Aleksey M. Romanov |
| collection | DOAJ |
| description | A review of robotic systems was carried out. The paper analyzes applied hardware and software solutions and summarizes the most common block diagrams of control systems. The analysis of approaches to control systems scaling, the use of intelligent control, the achievement of fault tolerance, and the reduction of the weight and size of control system elements belonging to various classes of robotic systems were carried out. The goal of the review is finding common approaches used in various areas of robotics to build on their basis a uniform methodology for designing scalable intelligent control systems for robots with a given level of fault tolerance on a unified component base. This part is dedicated to service robotics. The following conclusions are made on the basis of the review results: the key technology in service robotics from the point of view of scalability is the Robot Operating System (ROS); service robotics is today the main springboard for testing intelligent algorithms for the tactical and strategic control levels that are integrated into a common system based on ROS; the problem of ensuring fault tolerance in the service robotics is practically neglected, with the exception of the issue of increasing reliability by changing behavioral algorithms; in a number of areas of service robotics, in which the reduction of mass and dimensions is especially important, the robot control systems are implemented on a single computing device, in other cases a multi-level architecture implemented on Linux-based embedded computers with ROS are used. |
| format | Article |
| id | doaj-art-95ba623c77bf4ef69b9b0d3a2ac1b904 |
| institution | Kabale University |
| issn | 2500-316X |
| language | Russian |
| publishDate | 2020-01-01 |
| publisher | MIREA - Russian Technological University |
| record_format | Article |
| series | Российский технологический журнал |
| spelling | doaj-art-95ba623c77bf4ef69b9b0d3a2ac1b9042025-02-03T11:45:49ZrusMIREA - Russian Technological UniversityРоссийский технологический журнал2500-316X2020-01-0176688610.32362/2500-316X-2019-7-6-68-86177A review on control systems hardware and software for robots of various scale and purpose. Part 2. Service roboticsAleksey M. Romanov0MIREA – Russian Technological UniversityA review of robotic systems was carried out. The paper analyzes applied hardware and software solutions and summarizes the most common block diagrams of control systems. The analysis of approaches to control systems scaling, the use of intelligent control, the achievement of fault tolerance, and the reduction of the weight and size of control system elements belonging to various classes of robotic systems were carried out. The goal of the review is finding common approaches used in various areas of robotics to build on their basis a uniform methodology for designing scalable intelligent control systems for robots with a given level of fault tolerance on a unified component base. This part is dedicated to service robotics. The following conclusions are made on the basis of the review results: the key technology in service robotics from the point of view of scalability is the Robot Operating System (ROS); service robotics is today the main springboard for testing intelligent algorithms for the tactical and strategic control levels that are integrated into a common system based on ROS; the problem of ensuring fault tolerance in the service robotics is practically neglected, with the exception of the issue of increasing reliability by changing behavioral algorithms; in a number of areas of service robotics, in which the reduction of mass and dimensions is especially important, the robot control systems are implemented on a single computing device, in other cases a multi-level architecture implemented on Linux-based embedded computers with ROS are used.https://www.rtj-mirea.ru/jour/article/view/182roboticsservice robotscontrol systemsmobile robotsdronesunmanned aerial vehicleunmanned transportmodular reconfigurable robots |
| spellingShingle | Aleksey M. Romanov A review on control systems hardware and software for robots of various scale and purpose. Part 2. Service robotics Российский технологический журнал robotics service robots control systems mobile robots drones unmanned aerial vehicle unmanned transport modular reconfigurable robots |
| title | A review on control systems hardware and software for robots of various scale and purpose. Part 2. Service robotics |
| title_full | A review on control systems hardware and software for robots of various scale and purpose. Part 2. Service robotics |
| title_fullStr | A review on control systems hardware and software for robots of various scale and purpose. Part 2. Service robotics |
| title_full_unstemmed | A review on control systems hardware and software for robots of various scale and purpose. Part 2. Service robotics |
| title_short | A review on control systems hardware and software for robots of various scale and purpose. Part 2. Service robotics |
| title_sort | review on control systems hardware and software for robots of various scale and purpose part 2 service robotics |
| topic | robotics service robots control systems mobile robots drones unmanned aerial vehicle unmanned transport modular reconfigurable robots |
| url | https://www.rtj-mirea.ru/jour/article/view/182 |
| work_keys_str_mv | AT alekseymromanov areviewoncontrolsystemshardwareandsoftwareforrobotsofvariousscaleandpurposepart2servicerobotics AT alekseymromanov reviewoncontrolsystemshardwareandsoftwareforrobotsofvariousscaleandpurposepart2servicerobotics |