References

moitvivt

Моделирование, оптимизация и информационные технологии

Modeling, Optimization and Information Technology

2310-6018

Издательство

10.26102/2310-6018/2021.35.4.025

1101

Анализ методов решения обратной задачи кинематики модульных реконфигурируемых систем

Analysis of methods for solving inverse kinematics of modular reconfigurable systems

0000-0001-8003-3643

Ерашов

Алексей Алексеевич

Erashov

Aleksei Alekseevich

erashov.a@iias.spb.su aff-1

0000-0001-9587-1199

Блинов

Дмитрий Владимирович

Blinov

Dmitriy Vladimirovich

d99b09@yandex.ru aff-2

0000-0003-1851-2699

Савельев

Антон Игоревич

Saveliev

Anton Igorevich

saveliev@iias.spb.su aff-3

Санкт-Петербургский Федеральный исследовательский центр Российской академии наук Санкт-Петербургский институт информатики и автоматизации Российской академии наук St. Petersburg Federal Research Center of the Russian Academy of Sciences St. Petersburg Institute for Informatics and Automation of the Russian Academy of Sciences

Санкт-Петербургский государственный университет аэрокосмического приборостроения St. Petersburg State University of Aerospace Instrumentation

01 01 2026

1 1

10.26102/2310-6018/2021.35.4.025

2026

This work is licensed under a Creative Commons Attribution 4.0 International License

Актуальность работы обусловлена актуализацией методов решения обратной задачи кинематики применительно к различным кинематическим структурам (формациям) реконфигурируемых модульных систем. Цель работы заключается в анализе методов решения обратной задачи кинематики, которые возможно применить к различным формациям самореконфигурируемых многозвенных робототехнических систем. Проведено исследование прямой кинематики различных формаций модульных робототехнических систем на основе ранее полученных результатов исследований других ученых. Выполнен анализ методов решения обратной задачи кинематики модульных реконфигурируемых систем и произведена оценка их возможного применения для различных кинематических структур модульных систем. Рассмотрены аналитические и численные методы решения, приведены примеры практического применения. Кроме того, в работе проведен анализ различных методов машинного обучения. По результатам исследования выделены преимущества и недостатки различных методов решения обратной задачи кинематики модульных робототехнических систем. Выделены потенциально подходящие методы решения данной задачи с точки зрения вычислительной сложности, возможности применения для систем с избыточным числом степеней свободы. Среди исследованных методов зачастую рассматриваются частные решения обратной задачи кинематики. В результате проведенного анализа можно выделить направления исследований, связанные с разработкой методов машинного обучения, которые потенциально подходят для применения в задачах управления самореконфигурируемыми модульными робототехническими системами. Разработка такого метода позволит снизить количество предварительных аналитических расчетов, реализовать систему управления, которая не потребует существенных изменений алгоритмов, а также расширить возможности применения модульных систем за счет адаптации данной системы к поверхности передвижения.

The relevance of this work is due to the actualization of methods for solving the inverse kinematics in relation to various kinematic structures (formations) of reconfigurable modular systems. The purpose of the work is to analyze methods for solving the inverse kinematics, which can be applied to various formations of self-configuring multilink robotic systems. A study of the forward kinematics of modular robotic systems various formations is conducted on the basis of the previously obtained research results of other scientists. The analysis of methods for solving the inverse kinematics of modular reconfigurable systems was carried out and an assessment of their possible application for various kinematic structures of modular systems was made. Analytical and numerical methods of solution were considered, and examples of practical application were also given. In addition, the paper analyzed various machine learning methods. With regard to the results of the study, the advantages and disadvantages of various methods for solving the inverse kinematics of modular robotic systems were highlighted. Potentially suitable methods for solving this problem from the point of view of computational complexity and application possibilities for systems with a redundant number of degrees of freedom are identified. Among the methods considered, particular solutions of the inverse kinematics of a certain modular reconfigurable system kinematic structure are often evaluated. As a result of the analysis, it is possible to isolate areas of research related to the development of machine learning methods that are potentially suitable for use in control problems for self-reconfiguring modular robotic systems. The development of such a method will enable to reduce the number of preliminary analytical calculations, to implement a control system that does not require significant changes in algorithms, and also to expand the possibilities of using modular systems by adapting this system to the movement surface.

модульная робототехника модульные робототехнические системы самореконфигурируемые модульные роботы автономные роботы прямая задача кинематики обратная задача кинематики

modular robotics modular robotic systems self-reconfigurable modular robots autonomous robots forward kinematics inverse kinematics

Работа выполнена при поддержке РФФИ № 20-08-01109_А

This work is supported by RFBR No. 20-08-01109_А

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The authors declare that there are no conflicts of interest present.