ارائه الگوریتمی برای کالیبراسیون ربات موازی دلتا بر اساس محاسبه تغییرات سینماتیک مستقیم با استفاده از دید استریو

نوع مقاله : مقاله پژوهشی

نویسندگان

1 دانشجوی دکترا، دانشکده مهندسی مکانیک، دانشگاه شهید رجائی، تهران، ایران

2 دانشیار، دانشکده مهندسی مکانیک، دانشگاه شهید رجائی، تهران، ایران

3 دانشیار، دانشکده مهندسی برق و کامپیوتر، آزمایشگاه تعامل انسان و ربات، دانشگاه تهران، تهران، ایران

چکیده

از آنجایی که سینماتیک مستقیم در ربات‌های موازی پیچیدگی بیشتری دارد و اغلب به یک راه‌حل تحلیلی منجر نمی‌شود، در اکثر مطالعات، سینماتیک معکوس برای کالیبراسیون ربات موازی ترجیح داده شده است. در این مطالعه از یک روش که نیاز به حل کامل سینماتیک مستقیم ندارد، برای کالیبراسیون استفاده شده است. در روش پیشنهادی تغییرات موقعیت عملگرنهایی نسبت به تغییرات ابعادی پارامترهای سینماتیک محاسبه شده و سپس با خطی سازی روابط امکان لازم برای استفاده از الگوریتم حداقل مربعات خطی فراهم شده است. مدل ارائه شده مانند مدل مرجع صفر و روشهای مبتنی بر حاصل ضرب نمایی تنها از یک مختصات مرجع ثابت کمک می‌گیرد و برخلاف مدل دنویت-هارتنبرگ مشکل تکینگی ندارد. در شبیه سازی نشان داده شد که الگورریتم پیشنهادی با تعداد کمی از نقاط انتخابی و با سرعت بالا، در کسری از ثانیه در چند تکرار اولیه به جوابی در محدوده نانومتر می رسد. نیز با استفاده از دید ‌استریو به صورت عملی، نظری ارائه شده مورد آزمایش قرار گرفت و نشان داد که الگوریتم پیشنهادی می‌تواند به دقت ابزار اندازه‌گیری مشابه نتایج شبیه‌سازی برسد.

کلیدواژه‌ها

موضوعات

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