Name: the modular design and production of an intelligent robot based on a closed-loop control strategy
Uploaded: 2017-10-14T13:00:00
Description: Watch this Scientific Journal Video about The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy at JoVE.com

作者希望对 Mr. 高耀洁在执行本文所报道的实验方面的帮助表示感谢。这项工作得到了中国国家自然科学基金 (No. 61673117) 的部分支持。

1. 机器的构造 <ol> <li> 按图示装配机箱, 使用适当的紧固件确保机械部件的安全。( 图 1 ) 
	注意: 底盘, 包括底板, 马达, 轮子等, 是机器人的主要组成部分, 负责其运动。因此, 在装配过程中, 保持支架平直. </li>
	<li> 锡导线引线和正负电极。焊料两个导线通向电机的两端, 将红色引线连接到正极, 黑色引出负极. </li>
	<li> 装配轴套、马达和车轮。
	<ol> <li> 将马达连接...

<ol>
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本文设计了一种可以自主构建的智能机器人。通过将多个软件程序与硬件集成, 实现了所提出的智能搜索算法和自主识别。在协议中, 我们介绍了配置硬件和调试智能机器人的基本方法, 它可以帮助用户设计适合自己机器人的机械结构。然而, 在实际运行过程中, 必须注意结构的稳定性、工作范围、自由度和空间利用率, 以确保这些参数符合要求。合理的机械结构保证了机器人的高精度、高灵活性和?...

机器人是复杂的, 智能机器, 结合了一些学科的知识, 包括机械, 电子学, 控制, 计算机, 传感器和人工智能1,2。机器人在工作场所, 特别是在工业生产中, 越来越多地帮助甚至取代人类, 这是由于机器人在执行重复或危险任务时所拥有的优势。在目前的研究中, 智能机器人协议的设计是基于闭环控制策略, 特别是基于遗传算法的路径规划。此外, 功能模块已被严格划分为3,4, 为未来的优化工作打下了坚实的基础, 使机器人具有很强的升级能力。
机器人平台的模块化实现主要基于以下方法: 电机控制模块的多维组合控制策略5,6, 基于遗传算法的智能探测在优化算法模块中。
我们采用双闭环控制的直流电机和四象限电机操作在电机控制模块。双闭环速度控制意味着速度调节器的输出作为电流调节器的输入, 允许它控制电机的电流和扭矩。该系统的优点是可以根据给定速度和实际转速的不同, 对电机的转矩进行 real-time 控制。当给定的和实际的速度之间的差异是相对较大的, 电机的扭矩增加和速度的变化更快地驱动电机的速度向给定的价值尽快, 这使得快速调速7,8,9. 反之, 当速度相对接近给定值时, 它可以自动减小电机的转矩, 以避免速度过快, 允许速度相对快速地实现给定的值, 没有错误6,10. 由于电流回路的等效时间常数相对较小, 四象限电机11、12可以更快地响应, 以抑制系统受干扰的影响。外部干扰。这使得它能够提高系统的稳定性和抗干扰能力。
基于 MATLAB 的仿真运行结果, 我们选择了具有最高效率的遗传智能优化算法。遗传算法是一种基于遗传学中自然选择理论的随机并行搜索算法。它构成了在没有任何初始信息的情况下找到全局最优解的有效方法。它将问题的解决方案视为一个群体, 从而通过连续选择、交叉、变异和其他遗传操作来提高解决方案的质量。在智能机器人的路径规划方面, 由于初始信息不足、环境复杂、非线性等原因, 造成了很高的难度。遗传算法在求解非线性问题时具有全局优化能力、较强的适应性和鲁棒性, 能够较好地解决路径规划问题;对这个问题没有具体的限制;计算过程简单;并且对于搜索空间没有特殊要求13,14。

<table border="1" fo:keep-together.within-page="1" fo:keep-with-next.within-page="always">
	<tbody>
		<tr>
			<td>structural parts</td>
			<td>UPTECMONYH HAR</td>
			<td>L1-1</td>
			<td></td>
		</tr>
		<tr>
			<td>structural parts</td>
			<td>UPTECMONYH HAR</td>
			<td>L2-1</td>
			<td></td>
		</tr>
		<tr>
			<td>structural parts</td>
			<td>UPTECMONYH HAR</td>
			<td>L3-1</td>
			<td></td>
		</tr>
		<tr>
			<td>structural parts</td>
			<td>UPTECMONYH HAR</td>
			<td>L4-1</td>
			<td></td>
		</tr>
		<tr>
			<td>structural parts</td>
			<td>UPTECMONYH HAR</td>
			<td>L5-1</td>
			<td></td>
		</tr>
		<tr>
			<td>structural parts</td>
			<td>UPTECMONYH HAR</td>
			<td>L5-2</td>
			<td></td>
		</tr>
		<tr>
			<td>structural parts</td>
			<td>UPTECMONYH HAR</td>
			<td>U3A</td>
			<td></td>
		</tr>
		<tr>
			<td>structural parts</td>
			<td>UPTECMONYH HAR</td>
			<td>U3B</td>
			<td></td>
		</tr>
		<tr>
			<td>structural parts</td>
			<td>UPTECMONYH HAR</td>
			<td>U3C</td>
			<td></td>
		</tr>
		<tr>
			<td>structural parts</td>
			<td>UPTECMONYH HAR</td>
			<td>U3F</td>
			<td></td>
		</tr>
		<tr>
			<td>structural parts</td>
			<td>UPTECMONYH HAR</td>
			<td>U3G</td>
			<td></td>
		</tr>
		<tr>
			<td>structural parts</td>
			<td>UPTECMONYH HAR</td>
			<td>U3H</td>
			<td></td>
		</tr>
		<tr>
			<td>structural parts</td>
			<td>UPTECMONYH HAR</td>
			<td>U3J</td>
			<td></td>
		</tr>
		<tr>
			<td>structural parts</td>
			<td>UPTECMONYH HAR</td>
			<td>I3</td>
			<td></td>
		</tr>
		<tr>
			<td>structural parts</td>
			<td>UPTECMONYH HAR</td>
			<td>I5</td>
			<td></td>
		</tr>
		<tr>
			<td>structural parts</td>
			<td>UPTECMONYH HAR</td>
			<td>I7</td>
			<td></td>
		</tr>
		<tr>
			<td>structural parts</td>
			<td>UPTECMONYH HAR</td>
			<td>CGJ</td>
			<td></td>
		</tr>
		<tr>
			<td>link component</td>
			<td>UPTECMONYH HAR</td>
			<td>LM1</td>
			<td></td>
		</tr>
		<tr>
			<td>link component</td>
			<td>UPTECMONYH HAR</td>
			<td>LM2</td>
			<td></td>
		</tr>
		<tr>
			<td>link component</td>
			<td>UPTECMONYH HAR</td>
			<td>LM3</td>
			<td></td>
		</tr>
		<tr>
			<td>link component</td>
			<td>UPTECMONYH HAR</td>
			<td>LM4</td>
			<td></td>
		</tr>
		<tr>
			<td>link component</td>
			<td>UPTECMONYH HAR</td>
			<td>LX1</td>
			<td></td>
		</tr>
		<tr>
			<td>link component</td>
			<td>UPTECMONYH HAR</td>
			<td>LX2</td>
			<td></td>
		</tr>
		<tr>
			<td>link component</td>
			<td>UPTECMONYH HAR</td>
			<td>LX3</td>
			<td></td>
		</tr>
		<tr>
			<td>link component</td>
			<td>UPTECMONYH HAR</td>
			<td>LX4</td>
			<td></td>
		</tr>
		<tr>
			<td>Steering gear structure component</td>
			<td>UPTECMONYH HAR</td>
			<td>KD</td>
			<td></td>
		</tr>
		<tr>
			<td>Steering gear structure component</td>
			<td>UPTECMONYH HAR</td>
			<td>DP</td>
			<td></td>
		</tr>
		<tr>
			<td>Infrared sensor</td>
			<td>UPTECMONYH HAR</td>
			<td>E18-B0</td>
			<td>Digital sensor</td>
		</tr>
		<tr>
			<td>Infrared&#160;Range&#160;Finder</td>
			<td>SHARP</td>
			<td>GP2D12</td>
			<td></td>
		</tr>
		<tr>
			<td>Gray level sensor</td>
			<td>SHARP</td>
			<td>GP2Y0A02YK0F</td>
			<td></td>
		</tr>
		<tr>
			<td>proMOTION&#160;CDS</td>
			<td>SHARP</td>
			<td>CDS&#160;5516</td>
			<td>The robot steering gear</td>
		</tr>
		<tr>
			<td>motor drive module</td>
			<td>Risym</td>
			<td>HG7881</td>
			<td></td>
		</tr>
		<tr>
			<td>solder wire</td>
			<td>ELECALL</td>
			<td>63A</td>
			<td></td>
		</tr>
		<tr>
			<td>terminal</td>
			<td>Bright wire</td>
			<td>5264</td>
			<td></td>
		</tr>
		<tr>
			<td>motor</td>
			<td>BX motor</td>
			<td>60JX</td>
			<td></td>
		</tr>
		<tr>
			<td>camera</td>
			<td>Logitech</td>
			<td>C270</td>
			<td></td>
		</tr>
		<tr>
			<td>Drilling machine</td>
			<td>XIN XIANG</td>
			<td>16MM</td>
			<td>Please be careful</td>
		</tr>
		<tr>
			<td>Soldering station</td>
			<td>YIHUA</td>
			<td>8786D</td>
			<td>Be&#160;careful&#160;to&#160;be&#160;burn</td>
		</tr>
		<tr>
			<td>screwdriver</td>
			<td>EXPLOIT</td>
			<td>043003</td>
			<td></td>
		</tr>
		<tr>
			<td>Tweezers</td>
			<td>R`DEER</td>
			<td>RST-12</td>
			<td></td>
		</tr>
	</tbody>
</table>

the modular design and production of an intelligent robot based on a closed-loop control strategy

智能机器人是新一代机器人的一部分, 能够感知周围环境, 规划自己的行动, 最终达到目标。近年来, 对机器人的依赖在日常生活和工业中增加了。本文所提出的协议描述了一个具有智能搜索算法和自主识别功能的搬运机器人的设计与制作。
首先, 对各种工作模块进行机械装配, 完成工作平台的搭建和机械手的安装。然后, 我们设计了一个闭环控制系统和一个四象限电机控制策略, 借助于调试软件, 以及设置转向齿轮的识别 (ID), 波特率和其他工作参数, 以确保机器人达到期望的动态性能和低能耗。然后, 对传感器进行调试, 实现多传感器融合, 准确获取环境信息。最后, 我们实现了相应的算法, 能够识别机器人在给定应用中的功能的成功。
这种方法的优点是它的可靠性和灵活性, 因为用户可以开发各种硬件建设程序, 并利用全面的调试器来实施智能控制策略。这样, 用户就可以根据自己的需要来设置个性化需求, 从而提高效率和鲁棒性。

在双闭环运动控制程序图中, 紫色代表给定的速度信号, 黄色表示控制系统输出的值。图 17清楚地表明双闭环控制系统比开环系统更有效。双闭环系统输出的实际超调量相对较小, 系统的动态性能较好。(图 17)
图 18显示了在不同波长的反射光的影响下机器人的颜...

Watch this Scientific Journal Video about The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy at JoVE.com

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

我们提出了一个关于模块化设计和生产智能机器人的协议, 以帮助科技人员设计基于个人需求和个性化设计的具有特殊生产任务的智能机器人。

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Elaborate Control of Inkjet Printer for Fabrication of Chip-based Supercapacitors

用于制造基于芯片的超级电容器的喷墨打印机的精细控制

There are tremendous efforts in various fields to apply the inkjet printing method for the fabrication of wearable devices, displays, and energy storage ...

Data Communication Based on MQTT in a Polymer Extrusion Process

基于MQTT的数据通信在聚合物挤出工艺中的应用

This work aims at building a flexible data communication structure for a polymer processing machine by employing a publisher-subscriber based protocol ...

Design and Application of a Fault Detection Method Based on Adaptive Filters and Rotational Speed Estimation for an Electro-Hydrostatic Actuator

基于自适应滤波和转速估计的电静压执行器故障检测方法设计与应用

The electro-hydrostatic actuator (EHA) is a promising actuating apparatus used in flight control systems for more electric aircraft (MEA) due to its high ...

Microfluidic Channel-Based Soft Electrodes for Capacitive Pressure Sensing

Microfluidic Channel-Based Soft Electrodes and Their Application in Capacitive Pressure Sensing

Microfluidic Channel-Based Soft Electrodes and Their Application in Capacitive Pressure Sensing (Video) | JoVE 

基于微流控通道的软电极及其在电容式压力传感中的应用

Flexible and stretchable electrodes are essential components in soft artificial sensory systems. Despite recent advances in flexible electronics, most ...