Multidisciplinary Journal of Science and Technology

DECISION-MAKING MODEL FOR CONTROLLING A COLLABORATIVE ROBOT-MANIPULATOR BASED ON THE SENSOR FUSION METHOD AND CNN APPROACH TO RULE FORMATION

Nataliia Demska1

1Department of Computer-Integrated Technologies, Automation and Robotics, Kharkiv National University of Radio Electronics, Ukraine

Vladyslav Yevsieiev1

1Department of Computer-Integrated Technologies, Automation and Robotics, Kharkiv National University of Radio Electronics, Ukraine

Svitlana Maksymova1

1Department of Computer-Integrated Technologies, Automation and Robotics, Kharkiv National University of Radio Electronics, Ukraine

Jafar Ababneh2

2Cyber Security department, Faculty of Information Technology, Zarqa University, Zarqa, Jordan

Keywords: Collaborative Robot, Manipulator, Decision Making, Sensor Fusion, CNN, Neural Network, Sensor Data Processing, Adaptive Control, Automation, Artificial Intelligence.

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Abstract

The article discusses an approach to building a decision-making model for controlling a collaborative robot-manipulator, based on the integration of the Sensor Fusion method and convolutional neural networks (CNN). The proposed model provides the combination of multi-channel sensory information, its normalization and transformation into a feature vector for further training of the control system. The implementation of CNN allows you to automatically detect relevant input data patterns and form adaptive rules for decision-making in a dynamic environment. The simulation results showed high efficiency of the proposed approach in conditions of variable sensory signals and limited training sample. The model can be used in autonomous control systems for collaborative robots interacting with humans in a production environment.

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