In this paper an anthropomorphic robotic complex which consists of a robotic body with two robotic arms is designed for the purpose of achieving cooperative tasks. This research platform also aims to accelerate the creation and testing of control algorithms for humanlike anthropomorphic robots. An adaptive optimization algorithm based on differential evolution approach is proposed to solve the inverse kinematic problem. This algorithm facilitates finding a desirable solution easily and with less calculation cost compared to analytical and numerical methods, the thing that allows achieving realistic and efficient motion. This algorithm maintains balance between exploring new options and using current knowledge. Newton-Euler recursive approach is used for determining the robots dynamic properties. Then the required actuators are chosen, and stress analysis is conducted to evaluate the structural integrity of the robot and its capacity to withstand substantial loads. Adjustable backstepping fuzzy control method is used that is more robust to uncertainties, nonlinearities, and external disturbances and offers the robot the ability to perform movement in space, cooperate, and complete tasks in a coordinated manner. Ellipsoid intersection localizing method is used for collision avoidance. The selected methods excel at predicting the joints ’ movements required to attain desired poses with great accuracy and avoid collision. In a future paper, a study of the hands of this robot will be introduced. This work has the potential to be applied in tasks that are dangerous for humans, or in human-like tasks such as maintenance and manufacturing.

The article discusses the features of the manifestation of advanced obsolescence of electronic components of mechatronic systems in comparison with the physical aging of their electromechanical and mechanical modules. The relevance of managing the obsolescence of mechatronic systems has been revealed through early planning and implementation of measures to ensure that the product is ready for target use throughout its specified service life. It is proposed to implement obsolescence management by justifying the supply routes of replaceable components in conditions of obsolescence of products, accompanied by a decrease in the availability of spare parts due to their decommissioning. The main types of obsolescence of mechatronic systems are considered, including functional, technical and economic obsolescence and degradation of resource fault tolerance. The main results of the development of a mathematical model of degradation of the resource fault tolerance of a mechatronic system based on the analysis of obsolescence trees are presented. The apparatus of obsolescence trees provides an opportunity to model the causal relationships between the transition of a mechatronic system to a state of irreversible failure, failures of system elements and the probabilities of carrying out measures to manage the obsolescence of a mechatronic system in conditions of its obsolescence. During the development of the model, an integral equation of obsolescence of a mechatronic system with degradation of resource fault tolerance was obtained, an approximate method of solving it was proposed, as a result of which point and interval estimates of forecasts of the values of the gamma percent service life of a mechatronic system before the onset of obsolescence were obtained. Expressions are obtained to determine the preferred ways to compensate for the obsolescence of a mechatronic system with degradation of resource fault tolerance according to the criterion of maximum technical and economic efficiency. An algorithm for choosing the preferred method of managing obsolescence of a mechatronic system in terms of technical and economic efficiency is presented.

The interpolator is one of the critical components of contour control systems for industrial robots, which significantly affects their accuracy. In such technological tasks as welding, laser cutting, coating, and surfacing, in addition to the spatial accuracy of the robot’s end-effector, the accuracy of its velocity during motion along complex trajectories plays an important role. In this paper, we propose a new approach for solving the interpolation problem of a multi-axis industrial robot based on the В-splines. The proposed algorithms can be easily adapted for robots with any kinematics, generating the current, velocity, and position setpoints for the control loops of each of its actuators. А software implementation of the offline interpolator based on the proposed algorithms was developed and executed on В&R Industrial Automation GmbH industrial controllers. During the experimental studies performed on a manipulation robot with SCARA kinematic scheme, it was demonstrated that the developed algorithmic solutions outperform the standard interpolator of В&R industrial robot control systems, exceeding it up to 2 times in terms of spatial accuracy and up to 4 times in terms of root mean square velocity deviation. The maximum deviation of the tool’s velocity using the developed algorithms did not exceed 2.4 mm/s, comparable to the results of the most modern planar solutions based on NURBS curves. At the same time, unlike their planar analogs, the solutions proposed in this paper are suitable for multidimensional interpolation. In this part of the paper, we describe the algorithms of the developed multi-axis interpolator.

The construction of a control system for a bridge crane operating in conditions of current parametric uncertainty and the impact of external disturbances, in particular, the impact of wind, is considered. The proposed control system is based on a scheme with an algorithm for current parametric identification, assigned an implicit reference model, which expresses requirements for the behavior of the carried load, with formation of a given speed of movement of the bridge crane trolley. The latter corresponds to the use of servo drives on modern cranes, in particular, based on asynchronous electric motors. The peculiarity of the proposed control system is that the sensor determining the coordinates of the cargo suspension movement is a combined sensor, which includes an angular velocity sensor and an accelerometer, and is located on the suspension next to the crane trolley. Described is a wall-mounted uniaxial model of a bridge crane created in laboratory conditions to study the proposed control method. Its control system comprises an asynchronous motor with an encoder controlled from a frequency converter and a programmable logic controller, which correspond to equipment of real crane control systems. The results of the study of the proposed control system in comparison with conventional manual control are presented. Investigations include movement to target point of two-variant load and empty suspension with two suspension lengths. The studies were carried out for vector control of a closed-loop electric motor and open-loop vector control without using an encoder.

This article examines the applicability of first principles models of technological processes in model-predicted control. The role of gas fractionation units in refining processes is described, as well as the technological features of such units leading to necessity to update the parameters of predictive models inside advanced process control systems. The generally accepted approaches to control based on predictive control are considered. The structure of a typical column of a gas fractionating unit and the physical principles of its operation, as well as the influence of the efficiency of the column trays on the quality of liquid and gas separation, are described. А mathematical model of a distillation column is constructed. This model is based on fundamental physical laws, including the laws of conservation of mass and energy, hydraulic dependencies, and the properties of the substance flowing through the column. The Peng-Robinson equation of state is used to calculate phase equilibrium and the composition of liquid and gas on column trays. А general approach to identification and an algorithm for identification the model inside a gas fractionation plant control system are considered. А sample case of calculating the gas fractioning column is given. The scaling factors for the column model state vector are determined for calculating the model discrepancy with experimental data. Numerical experiments have been carried out to evaluate the quality of identification of the constructed column model. The influence of various factors on the identification is investigated. The effectiveness of the considered method is determined.