基于虚拟建模设计和人工智能工具的六自由度机器人协同任务逆运动学评估

Q3 Engineering

International Journal of Mechanical Engineering and Robotics Research Pub Date : 2023-01-01 DOI:10.18178/ijmerr.12.2.121-130

Abderrahim Bahani, Moulay El houssine Ech-Chhibat, H. Samri, Hicham Ait Elattar

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引用次数: 4

摘要

本工作旨在利用基于Matlab/ simmechanics的仿真和人工智能工具，即Levenberg-Marquardt (LM)优化方法，评估两机器人协作系统的逆运动学。由此构建的人工神经网络将取代六自由度协作机器人的控制器。因此，整个协作系统在SolidWorks中进行设计，考虑到运动学建模所需的所有维度，然后转换到Matlab/SimMechanics中，通过该软件对模型的操作，我们将能够在其工作空间中提取协作系统的关节和操作数据。为了训练人工神经网络并在Matlab/SimMechanics中实现，在Matlab中建立了机器人系统的运动学数据库。最后，在一个协作任务中进行了测试，以评估智能控制的误差。所得结果可应用于两台实际的ABB IRB 120协作机器人的运动控制并进行验证。

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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The Inverse Kinematics Evaluation of 6-DOF Robots in Cooperative Tasks Using Virtual Modeling Design and Artificial Intelligence Tools

—This work aims at evaluating the inverse kinematics of a two-robot cooperative system using Matlab/SimMechanics-based simulations and artificial intelligence tools, namely the Levenberg-Marquardt (LM) optimization method. The artificial neural networks (ANN) thus constructed will replace the controllers of the six degrees of freedom (6-DOF) cooperative robots. Therefore, the entire cooperative system was designed in SolidWorks, taking into account all the dimensions necessary for kinematic modeling, then converted into Matlab/SimMechanics, and thanks to the manipulation of the model in this software, we will be able to extract the articulatory and operational data of the cooperative system in its workspace. The kinematic database of the robotic system is built in Matlab in order to train the ANN and implement it in Matlab/SimMechanics. Lastly, a test is performed in a collaborative task to evaluate the intelligent control error. The results obtained can be applied to and tested for the kinematic control of two real ABB IRB 120 cooperative robots.

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来源期刊

International Journal of Mechanical Engineering and Robotics Research Engineering-Mechanical Engineering

CiteScore

2.80

自引率

0.00%

发文量

期刊介绍： International Journal of Mechanical Engineering and Robotics Research. IJMERR is a scholarly peer-reviewed international scientific journal published bimonthly, focusing on theories, systems, methods, algorithms and applications in mechanical engineering and robotics. It provides a high profile, leading edge forum for academic researchers, industrial professionals, engineers, consultants, managers, educators and policy makers working in the field to contribute and disseminate innovative new work on Mechanical Engineering and Robotics Research.