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Optimization of Model Operator for Service Robot, Intended to Service Persons with Disability

机译：针对服务残疾人的服务机器人模型操作员的优化

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Presented methodology is the main research, consisting of an organized set of mathematical models, methods, procedures, rules and algorithms for research and solving of the assigned task, characterized by the possibility to fully take into account the specific features of selection and optimization for a model operator of a service robot with increased manipulation designed to serve disadvantaged people. The methodology offers answers to the problems in solving of building adequate mathematical models of the robot’s physical system, which deviates from the design due to inaccuracies in the realizing of the individual parts and inaccuracies in the assembly of the whole structure. There is an opportunity to find such a solution that satisfies the control and reliable operation of a service robot for better servicing disadvantaged people. Based on the experimental research carried out with the robot, an analysis has been made and has been solved following tasks: to increasing its manipulability and accuracy in terms of serving disadvantaged people. On the base of systematically accumulated extensive experimental material is possible to derive certain criteria for improving robot performance.
机译：提出的方法学是主要研究，由组织化的数学模型，方法，程序，规则和算法组成，用于研究和解决分配的任务，其特点是可以充分考虑针对特定任务的选择和优化的特定特征。服务机器人的模型操作员，具有更多的操作能力，旨在为弱势群体服务。该方法论为解决建立机器人物理系统的适当数学模型时遇到的问题提供了答案，由于各个零件的实现不准确以及整个结构的组装不准确，该问题与设计有所不同。有机会找到这样一种解决方案，该解决方案满足服务机器人的控制和可靠操作，可以更好地为弱势群体提供服务。根据使用机器人进行的实验研究，进行了分析并解决了以下任务：在为弱势群体提供服务方面提高其可操作性和准确性。在系统积累的大量实验材料的基础上，有可能得出提高机器人性能的某些标准。

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