The methods for diagnostic the mobile robots technical condition employing high precise satellite data

UDC 629.7.05.01

The methods for diagnostic the mobile robots technical
condition employing high precise satellite data
A.S. Kulik, D.Sc. Professor, T.V. Lytvynenko, PhD student
National aerospace university named after N. Ye. Zhukovsky “KHAI”

Great progress in the field of high-precision satellite measurements caused by using dual-frequency measuring instruments and new methods of measurements data analysis allow us to create new technologies that can be applied in various fields of science and technology.
One of the most important tasks facing designers, manufacturers and exploiters of mobile robots is providing active safety. Along with other factors, which provide safety, particular importance is placed on achieving the required level of safety and comfort in the design and technical diagnostics of mobile robots before their operation.

For today the most comprehensive information for these tasks can be obtained from the test directly using the object or its components. The process of testing is associated with great time and material costs and with using specific computer systems.
We propose to use measurement system for diagnostic the technical conditions. This complex includes addition to computers instruments for high precision satellite measurements that during the test should be placed directly on the case of the mobile robots and record the movement of the ТА calculated points.
First of all, should be defined methodology of research and testing. For the formation of this methodology is necessary to develop the following aspects: selecting the object for testing and its mathematical models; selecting coordinate system where measurement will be performed; determination of kinematic or dynamic properties that will be researched during the tests; definition of the functional relationships between the measured parameters, dynamic (kinematic) properties and ТА units (mechanisms) providing realization of these properties; definition of test plan and result processing; forming recommendations for further use of the mobile robots.
Systemic use of these components provides a methodology of testing.
* Scientific advisor PhD of Technical Science, docent K. Yu. Dergachov