一种经济实惠的基于机器人的物联网加速度计原型及其运动学建模

Mohamed Razi Morakchi, Mabrouk Defdaf, Z. Ghemari, S. Djeffal
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引用次数: 0

摘要

在过去的几十年里,基于连续机器人的物联网一直是研究人员关注的焦点,因为它的可负担性和低成本制造。为此,本文简要介绍了连续体机器人的设计。在此基础上,推导了单节连续体机器人的正运动学模型,并在此基础上提出了新的正运动学经验公式,简化了正运动学模型的数学复杂度。然后,采用粒子群算法求解单截面连续体机器人的运动学逆模型。为了验证所提经验公式的可靠性和粒子群算法的效率,在连续体机器人的末端执行器上安装了一个优雅的原型,并将加速度计345连接在数据记录仪上,记录机器人在给定弯曲角度下的位置。最后,将加速度计得到的机器人末端执行器位置作为粒子群算法的输入,发现粒子群算法和角度计得到的弯曲角度是重叠的。值得注意的是,本文提出的基于测井数据的加速度计跟踪连续体机器人技术首次被认为是一种完美跟踪机器人运动的替代技术。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Prototype of an affordable continuum robot-based IoT accelerometer and its kinematic modeling
The continuum robot-based IoT has been the focus of researchers over the last decades because of its affordability cost-less manufacturing. To this end, in this paper, continuum robot’s design is briefly described. Then the forward kinematic modeling (FKM) for a single section continuum robot is derived and from which a new empirical formula for the FKM is proposed to simplify its mathematical complexity. After that, Particle swarm optimization (PSO) is adopted to figure out the inverse kinematic model of a single section continuum robot. To verify the reliability of the proposed empirical formula as well as PSO efficiency, a graceful prototype of continuum robot coupled with data logger named accelerometer 345 is attached on the robot’s end-effector to record its positions for given bending angles. Finally, the obtained robots end effector positions from the accelerometer are used as inputs to PSO and its found that the resulting bending angles from both PSO and the angle meter are overlapped. It is noteworthy to say that the proposed technique of logging data-based accelerometer for tracking continuum robot is considered for the first time as an alternative technique to perfectly track the robot’s motion.
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