The Application of Spatial Zones of Transition from the Paradigm of Description to the Paradigm of Prescription in the Management of Robotic Systems

Abstract

The features of the complex application of AI and its tools in related fields for the introduction of modernization and further development of IR and MRTS in robotics were considered. The introduction of the transition zone is proposed as the basis of a complex analysis of two control paradigms: prescription and description. A solution to the problem of determining the boundary between the transition zone from one control paradigm to another based on the fact of jumpiness changes property is presented and proposed. Experimentally, for a definition transition zone, the probability of holding the object in the gripper under different orientation conditions with plane-parallel and rotary movement of the contact planes of the gripper was investigated. The effect on the probability of holding the part in the gripper of its geometric deviations and external force was determined. The design decisions of the gripper, its orienting mechanism, the kinematic scheme of the manipulator as a result of the implementation of the AI tool, and the application of transition zone two control paradigms were studied.