Abstract
The presented paper deals with the problem of developing a model of mutual adaptation of the operator and the controlled object in an ergative robotic system. The simplest collaborative robotic system is taken as a robotic system, the participants of which are a manipulator type robot and an operator. Mutual adaptation in the control process is considered on the example of a system with service discipline and application of an alternative approach. An example of solving the problem of adapting the service discipline of a mass service system under conditions of unpredictability of the external environment, which inevitably change the optimal setting of the service discipline, is given. The main components of the developed model of the system with adaptive control on the basis of neural network are given. The basic structure of this system is proposed. In this way it will be possible to move to a suboptimal solution in the current situation, extremizing the given criterion of efficiency of system functioning. The paper provides an overview of work in the field of robot control and applications for robotic systems using neural networks.
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The reported study was funded by the Russian Science Foundation according to the research project No. 23-19-00664, https://rscf.ru/en/project/23-19-00664/.
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Galin, R., Meshcheryakov, R., Turovsky, Y., Galina, S. (2024). Mutual Adaptation Model of Operator and Controlled Object in Ergatic Robotic System. In: Ronzhin, A., Savage, J., Meshcheryakov, R. (eds) Interactive Collaborative Robotics. ICR 2024. Lecture Notes in Computer Science(), vol 14898. Springer, Cham. https://doi.org/10.1007/978-3-031-71360-6_17
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