Sweeper Arm Mechanism Design on the Line Follower Robot with Path Sensing Algorithm and Curvature-Driven Kinematic

Nattapat Charaspotiratanakul, Watchara Thitayanuwat, Ittichai Rattanathavorn
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Abstract

This paper presents the development of a sweeperarm mechanism implemented on the line follower robot. The development is intended to improve the curvature-driven kinematic method currently use on a line follower robot by eliminating the fixed sensor array and replaced with a sweeper arm. The sweeper arm mechanism enables the robot to move freely while following the path without interfering with the robot’s movement. The potentiometer inside the sweeper arm enables the robot to read the path more accurately with higher resolution than a conventional fixed IR sensor array. The path sensing algorithm allows the robot to track various path characteristics. The curvature-driven kinematic lets the robot optimize speed based on curve radius. To measure the result, the test track and test bench were created. The test bench was used to test the functionality of the sweeper arm. The test track ensures that everything on the robot can work together in a realworld track. The results show that the robot can follow the curve smoothly and is reliable, demonstrating that the approach is more practical for high-speed applications. Although the prototype did not test at full speed due to physical limitations, it proves to be functional as intended.
基于路径感知算法和曲率驱动运动学的直线跟随机器人清扫臂机构设计
本文介绍了一种实现在直线跟随机器人上的扫臂机构的研制。该开发旨在通过消除固定传感器阵列并替换为清扫臂来改进目前在直线跟随机器人上使用的曲率驱动运动学方法。清扫臂机构使机器人能够在不干扰机器人运动的情况下随路径自由移动。清扫臂内的电位器使机器人能够比传统的固定红外传感器阵列更准确地读取路径,分辨率更高。路径感知算法允许机器人跟踪各种路径特征。曲率驱动运动学使机器人基于曲线半径优化速度。为了测量结果,建立了测试轨道和测试台架。该试验台用于测试扫地臂的功能。测试轨道确保机器人上的所有东西都可以在现实世界的轨道上一起工作。实验结果表明,该方法在高速应用中具有较强的实用性。虽然原型机没有在全速测试,由于物理限制,它被证明是预期的功能。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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