This book features selected papers presented at the 16th International Conference on Electromechanics and Robotics Zavalishins Readings ER(ZR) 2021, held in St. Petersburg, Russia, on April 1417, 2021. The contributions, written by professionals, researchers and students, cover topics in the field of automatic control systems, electromechanics, electric power engineering and electrical engineering, mechatronics, robotics, automation and vibration technologies. The Zavalishin's Readings conference was established as a tribute to the memory of Dmitry Aleksandrovich Zavalishin (19001968) a Russian scientist, corresponding member of the USSR Academy of Sciences, and founder of the school of valve energy converters based on electric machines and valve converters energy. The first conference was organized by the Institute of Innovative Technologies in Electromechanics and Robotics at the Saint Petersburg State University of Aerospace Instrumentation in 2006. The 2021 conference was held with XV International Conference Vibration-2021. Vibration technologies, mechatronics and controlled machines and VI International Conference Electric drive, electrical technology and electrical equipment of enterprises, and was organized by St. Petersburg State University of Aerospace Instrumentation (SUAI), St. Petersburg Federal Research Center of the Russian Academy of Sciences (SPC RAS), Southwest State University (SWSU) and Ufa State Oil Technical University (USPTU).
Part 1: Robotics and Automation.
Chapter
1. Analysis of Mechanisms with Parallel-Serial Structure 5-DOF and Extended Working Area.
Chapter
2. Studying of Copying Control System with Nonlinear Measurer.
Chapter
3. Determination of Special Positions for Solving the Problem of Joint Relative Manipulation Mechanisms Kinematic Control.
Chapter
4. Kinematic Modeling in Study of Manipulative Mechanism of Combined Movement.
Chapter
5. Simulation of Static Walking in an Exoskeleton.
Chapter
6. Algorithm for Controlling Manipulator with Combined Array of Pressure and Proximity Sensors in Gripper.
Chapter
7. Simulation of Underwater Robot Autonomous Motion along Predetermined Straight Path.
Chapter
8. In-Pipe Modular Robot: Configuration, Displacement Principles, Standard Patterns and Modeling.
Chapter
9. Multi-criteria Optimization of the Mobile Robot Group Strategy Using the Ant Algorithm.
Chapter
10. Analysis of the Allocation and Implementation of Tasks in the Heterogeneous Team ofthe Collaborative Robotic System.
Chapter
11. Algorithm of Target Point Assignment for Robot Path Planning Based on Costmap Data.
Chapter
12. Feasibility of Synthesized Optimal Control Approach on a Model of Robotic System with Uncertainties.
Chapter
13. Algorithm for Calculating Coordinates of Repeaters for Combining Stationary and Mobile Devices into Common Cyber-Physical System.
Chapter
14. Simulation of Trainable Control System for Quadruped Robot.
Chapter
15. Hardware/Software Architecture for Research of Control Algorithms of a Quadcopter in the Presence of External Wind Loads.
Prof. Andrey Ronzhin is Director of St. Petersburg Federal Research Center of the Russian Academy of Sciences (SP RAS) and Head of the Department of Electromechanics and Robotics Systems at St. Petersburg University of Airspace Instrumentation. His research focuses on interaction of autonomous robotic systems and users in a cyber-physical environment. He is a member of Scientific Board of Robotics and Mechatronics of the Russian Academy of Sciences, the Academy of Navigation and Motion Control, Co-Chairman of International Conference Interactive Collaborative Robotics (ICR). He is Deputy Editor-in-Chief of Journal Informatics and Automation.
Prof. Vladislav Shishlakov is Vice-Rector for Educational Technologies and Innovative Activities, St. Petersburg State University of Aerospace Instrumentation (SUAI) and Head of the Department of Management in Technical Systems. He is Honorary Worker at the Ministry of Education and Science of the Russian Federation since 2009. His research interests are related to development of methods of synthesis of nonlinear systems of automatic control systems, which are continuous, and with different types of signal modulation, as well as the development and research of electromechanical and electric power systems and complexes based on the effects of high-temperature superconductivity.
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