REMOTE INTELLIGENT ROBOT MANIPULATOR CONTROL SUBSYSTEM

The issue of expanding the functionality of an intelligent software and hardware subsystem for capturing an object by a robot manipulator was considered. It is shown that the task of expanding the functionality of the subsystem for free-form object capture by a robot manipulator with technical vision based on the operations of building a depth map from the obtained stereo image is insufficiently developed and can be solved by integrating a remote robot cntrol subsystem connected to a local network or the Internet into the robotic complex. The subsystem was developed using a Raspberry Pi microcomputer, a Stereo Pi board, a board for connecting eight Adafruit PCA9865 servos, Raspberry PI cameras, and a camera module. The structure and electrical diagram of the subsystem, a description of the software, and the main code snippet of the web application program are presented. Based on the analysis of the research results, it is established that the proposed remote control subsystem provides an extension of the functionality of the intelligent software and hardware subsystem for capturing an object by a robot manipulator, since in addition to the functions of automatic object capture, due to remote adjustment of the accuracy and manufacturability of object capture, it provides the functions of high-precision positioning of objects relative to each other and especially the effort on the robot manipulator to perform precise operations. The reliability of the object capture is also increased due to the fact that the subsystem allows for the additional involvement of a team of competent users. The proposed system increases the degree of automation, provides the possibility of moderation, collective administration, and user feedback during robot operation.