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Design and Implementation of LoRa-Based Forest Fire Monitoring System 基于lora的森林火灾监测系统的设计与实现
Pub Date : 2022-05-01 DOI: 10.18196/jrc.v3i3.14128
Yosi Apriani, Wiwin A. Oktaviani, Ian Mochamad Sofian
One of the great disasters on earth is forest fires. Attempts to detect disaster events have been made with the help of monitoring technology. However, the problem is that the sensor is less responsive to detecting the presence of fire. Furthermore, sending information about fire incidents throughout the forest cannot use the existing communication platform. Therefore, we designed a forest fire monitoring system using LoRa. This technology is based on wireless which can transmit data across the forest. To detect the presence of fire, Arduino Uno is used as a microcontroller that regulates input from the AMG8833 sensor and GPS Ubox 6M. The experiment shows that the AMG8833 sensor is more sensitive in detecting the presence of fire as the catch range changes between 3 to 10 meters. In that distance range, hotspots were detected 19.25 oC to 122.5 oC when testing the sensor node is done. The monitoring system developed in this study demonstrated that sensor nodes and gateways could communicate up to 500 meters apart with a signal quality of -134 dBm. The best LoRa configuration mode for this communication capability is a Bandwidth of 250, a Code Rate of 4/5, and a Spread Factor of 10.One of the great disasters on earth is forest fires. Attempts to detect disaster events have been made with the help of monitoring technology. However, the problem is that the sensor is less responsive to detecting the presence of fire. Furthermore, sending information about fire incidents throughout the forest cannot use the existing communication platform. Therefore, we designed a forest fire monitoring system using LoRa. This technology is based on wireless which can transmit data across the forest. To detect the presence of fire, Arduino Uno is used as a microcontroller that regulates input from the AMG8833 sensor and GPS Ubox 6M. The experiment shows that the AMG8833 sensor is more sensitive in detecting the presence of fire as the catch range changes between 3 to 10 meters. In that distance range, hotspots were detected 19.25 oC to 122.5 oC when testing the sensor node is done. The monitoring system developed in this study demonstrated that sensor nodes and gateways could communicate up to 500 meters apart with a signal quality of -134 dBm. The best LoRa configuration mode for this communication capability is a Bandwidth of 250, a Code Rate of 4/5, and a Spread Factor of 10.
森林火灾是地球上最大的灾难之一。在监测技术的帮助下,人们尝试检测灾难事件。然而,问题是传感器对探测火灾的反应较差。此外,在整个森林范围内发送火灾事件的信息无法使用现有的通信平台。因此,我们设计了一个基于LoRa的森林火灾监测系统。这项技术是基于无线的,可以在森林中传输数据。为了检测火灾的存在,Arduino Uno被用作微控制器,调节来自AMG8833传感器和GPS Ubox 6M的输入。实验表明,当捕获距离在3 ~ 10米之间变化时,AMG8833传感器对火灾的探测更加敏感。在该距离范围内,对传感器节点进行测试时,检测到的热点为19.25℃~ 122.5℃。本研究开发的监测系统表明,传感器节点和网关之间的通信距离可达500米,信号质量为-134 dBm。这种通信能力的最佳LoRa配置模式是带宽为250,码率为4/5,扩展因子为10。森林火灾是地球上最大的灾难之一。在监测技术的帮助下,人们尝试检测灾难事件。然而,问题是传感器对探测火灾的反应较差。此外,在整个森林范围内发送火灾事件的信息无法使用现有的通信平台。因此,我们设计了一个基于LoRa的森林火灾监测系统。这项技术是基于无线的,可以在森林中传输数据。为了检测火灾的存在,Arduino Uno被用作微控制器,调节来自AMG8833传感器和GPS Ubox 6M的输入。实验表明,当捕获距离在3 ~ 10米之间变化时,AMG8833传感器对火灾的探测更加敏感。在该距离范围内,对传感器节点进行测试时,检测到的热点为19.25℃~ 122.5℃。本研究开发的监测系统表明,传感器节点和网关之间的通信距离可达500米,信号质量为-134 dBm。这种通信能力的最佳LoRa配置模式是带宽为250,码率为4/5,扩展因子为10。
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引用次数: 9
Self-Collision Avoidance Control of Dual-Arm Multi-Link Robot Using Neural Network Approach 基于神经网络的双臂多连杆机器人自避碰控制
Pub Date : 2022-05-01 DOI: 10.18196/jrc.v3i3.14318
V. Kramar, O. Kramar, A. Kabanov
The problem of mutual collisions of manipulators of a dual-arm multi-link robot (so-called self-collisions) arises during the performance of a cooperative technological operation. Self-collisions can lead to non-fulfillment of the technological operation or even to the failure of the manipulators. In this regard, it is necessary to develop a method for online detection and avoidance of self-collisions of manipulators. The article presents a method for detecting and avoiding self-collisions of multi-link manipulators using an artificial neural network by the example of the dual-arm robot SAR-401. A comparative analysis is carried out and the architecture of an artificial neural network for self-collisions avoidance control of dual-arm robot manipulators is proposed. The novelty of the proposed approach lies in the fact that it is an alternative to the generally accepted methods of detecting self-collisions based on the numerical solution of inverse kinematics problems for manipulators in the form of nonlinear optimization problems. Experimental results performed based on MATLAB model, the simulator of the robot SAR-401 and on the real robot itself confirmed the applicability and effectiveness of the proposed approach. It is shown that the detection of possible self-collisions using the proposed method based on an artificial neural network is performed approximately 10 times faster than approaches based on the numerical solution of the inverse kinematics problem while maintaining the specified accuracy.
双臂多连杆机器人在进行协同工艺操作时,会出现机械手相互碰撞的问题(即自碰撞)。自碰撞会导致工艺操作无法完成,甚至机械手失效。在这方面,有必要开发一种在线检测和避免机械手自碰撞的方法。以双臂机器人SAR-401为例,提出了一种基于人工神经网络的多连杆机械手自碰撞检测与避免方法。通过对比分析,提出了双臂机器人自避碰控制的人工神经网络体系结构。该方法的新颖之处在于,它是一种普遍接受的基于非线性优化问题形式的机械臂逆运动学问题数值解的自碰撞检测方法的替代方法。基于MATLAB模型、SAR-401机器人仿真器和真实机器人的实验结果验证了该方法的适用性和有效性。结果表明,在保持给定精度的情况下,基于人工神经网络的自碰撞检测方法比基于反运动学问题数值解的方法快约10倍。
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引用次数: 1
Early Diagnosis for Dengue Disease Prediction Using Efficient Machine Learning Techniques Based on Clinical Data 基于临床数据的高效机器学习技术用于登革热疾病预测的早期诊断
Pub Date : 2022-05-01 DOI: 10.18196/jrc.v3i3.14387
Bilal Abdualgalil, Sajimon Abraham, Waleed M. Ismael
Dengue fever is a worldwide issue, especially in Yemen. Although early detection is critical to reducing dengue disease deaths, accurate dengue diagnosis requires a long time due to the numerous clinical examinations. Thus, this issue necessitates the development of a new diagnostic schema. The objective of this work is to develop a diagnostic model for the earlier diagnosis of dengue disease using Efficient Machine Learning Techniques (EMLT). This paper proposed prediction models for dengue disease based on EMLT. Five different efficient machine learning models, including K-Nearest Neighbor (KNN), Gradient Boosting Classifier (GBC), Extra Tree Classifier (ETC), eXtreme Gradient Boosting (XGB), and Light Gradient Boosting Machine (LightGBM). All classifiers are trained and tested on the dataset using 10-Fold Cross-Validation and Holdout Cross-Validation approaches. On a test set, all models were evaluated using different metrics: accuracy, F1-sore, Recall, Precision, AUC, and operating time. Based on the findings, the ETC model achieved the highest accuracy in Hold-out and 10-fold cross-validation, with 99.12 % and 99.03 %, respectively. In the Holdout cross-validation approach, we conclude that the best classifier with high accuracy is ETC, which achieved 99.12 %. Finally, the experimental results indicate that classifier performance in holdout cross-validation outperforms 10-fold cross-validation. Accordingly, the proposed dengue prediction system demonstrates its efficacy and effectiveness in assisting doctors in accurately predicting dengue disease.
登革热是一个全球性问题,尤其是在也门。虽然早期发现对于减少登革热死亡至关重要,但由于大量临床检查,准确的登革热诊断需要很长时间。因此,这个问题需要开发一种新的诊断方案。这项工作的目的是利用高效机器学习技术(EMLT)开发登革热疾病早期诊断的诊断模型。提出了基于EMLT的登革热疾病预测模型。五种不同的高效机器学习模型,包括k -最近邻(KNN)、梯度增强分类器(GBC)、额外树分类器(ETC)、极端梯度增强(XGB)和光梯度增强机(LightGBM)。所有分类器都使用10-Fold交叉验证和Holdout交叉验证方法在数据集上进行训练和测试。在一个测试集中,使用不同的指标对所有模型进行评估:准确性、F1-sore、召回率、精度、AUC和操作时间。结果表明,ETC模型在Hold-out和10倍交叉验证中准确率最高,分别为99.12%和99.03%。在Holdout交叉验证方法中,我们得出准确率最高的分类器是ETC,达到了99.12%。最后,实验结果表明,在holdout交叉验证中分类器的性能优于10倍交叉验证。因此,所提出的登革热预测系统在协助医生准确预测登革热疾病方面显示了其功效和有效性。
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引用次数: 1
Autonomous Movement Control of Coaxial Mobile Robot based on Aspect Ratio of Human Face for Public Relation Activity Using Stereo Thermal Camera 基于人脸宽高比的同轴移动机器人立体热像仪公关活动自主运动控制
Pub Date : 2022-05-01 DOI: 10.18196/jrc.v3i3.14750
M. Rusydi, Aulia Novira, Takayuki Nakagome, Joseph K. Muguro, Rio Nakajima, Waweru Njeri, Kojiro Matsushita, Minoru Sasaki
In recent years, robots that recognize people around them and provide guidance, information, and monitoring have been attracting attention. The mainstream of conventional human recognition technology is the method using a camera or laser range finder. However, it is difficult to recognize with a camera due to fluctuations in lighting 1), and it is often affected by the recognition environment such as misrecognition 2) with a person's leg and a chair's leg with a laser range finder. Therefore, we propose a human recognition method using a thermal camera that can visualize human heat. This study aims to realize human-following autonomous movement based on human recognition. In addition, the distance from the robot to the person is measured with a stereo thermal camera that uses two thermal cameras. A coaxial two-wheeled robot that is compact and capable of super-credit turning is used as a mobile robot. Finally, we conduct an autonomous movement experiment of a coaxial mobile robot based on human recognition by combining these. We performed human-following experiments on a coaxial two-wheeled robot based on human recognition using a stereo thermal camera and confirmed that it moves appropriately to the location where the recognized person is in multiple use cases (scenarios). However, the accuracy of distance measurement by stereo vision is inferior to that of laser measurement. It is necessary to improve it in the case of movement that requires more accuracy.
近年来,能够识别周围人并提供指导、信息和监控的机器人引起了人们的关注。传统的人体识别技术的主流是使用相机或激光测距仪的方法。然而,由于光线的波动,用相机很难识别1),并且经常受到识别环境的影响,例如用激光测距仪对人的腿和椅子的腿进行错误识别2)。因此,我们提出了一种利用热像仪对人体热量进行可视化的人体识别方法。本研究旨在实现基于人类识别的人类跟随自主运动。此外,机器人到人的距离是用一个使用两个热像仪的立体热像仪来测量的。采用一种结构紧凑、具有超信用转向能力的同轴两轮机器人作为移动机器人。最后,我们将这些结合起来,进行了基于人类识别的同轴移动机器人自主运动实验。我们使用立体热像仪对基于人类识别的同轴两轮机器人进行了人类跟随实验,并证实了它在多个用例(场景)中适当地移动到被识别的人所在的位置。然而,用立体视觉测量距离的精度不如激光测量。在需要更精确的运动情况下,有必要改进它。
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引用次数: 1
Design of Ventilator with Gas Mixing, Tidal Volume, and Humidifier Parameters 混合通风、潮气量及加湿器参数的设计
Pub Date : 2022-05-01 DOI: 10.18196/jrc.v3i3.14510
H. Fajrin, E. Susanto, Pamela Sandi Agus Kristianto, Fery Ferizal Herdiyana, S. Wibowo
On the ventilator, there are several important parameters, including gas mixing, which functions to mix oxygen with free air, the tidal volume serves to supply mixed air to the patient, respiratory rate is the frequency of breath given to the patient, and the humidifier functions to regulate the temperature of the air given to the patient. In this research, the author intends to design a ventilator device which uses a working system to open and close the valve to distribute air to the patient. This tool uses several sensors: oxygen sensor KE-25F3, flow sensor yf-s201, pressure sensor MPX 5700, and temperature sensor DS 12B20. The tidal volume (VT) has 3 setting values: 700 ml, 500 ml, and 300 ml. The test is carried out by opening and closing the valve. The respiratory rate has 2 settings of 15 and 20 breaths/minute. In addition, the humidifier has 3 setting modes 32, 35, and 40o C. From the test results, the highest error was obtained in the 300 ml tidal volume test, which was 7.20% and in the respiratory rate test, the highest error value was 0%. The test results with the oxygen concentration parameter obtained the largest error value of 0.1% at 100% oxygen concentration. In testing the temperature and humidity parameters, the largest average error was 2.40% at 40o C setting. So, it can be concluded that the tool is feasible to use because of the level of small error and still within the standard calibration tolerance of 15%.
在呼吸机上,有几个重要的参数,包括气体混合,其功能是将氧气与自由空气混合,潮汐量用于向患者提供混合空气,呼吸频率是给予患者的呼吸频率,加湿器的功能是调节给予患者的空气温度。在这项研究中,作者打算设计一种呼吸机装置,它使用一个工作系统来打开和关闭阀门,将空气分配给患者。该工具使用几个传感器:氧气传感器KE-25F3,流量传感器yf-s201,压力传感器MPX 5700和温度传感器DS 12B20。潮气量(VT)有3个设定值:700毫升、500毫升和300毫升。通过打开和关闭阀门来进行测试。呼吸频率有15次和20次/分钟两种设置。另外,加湿器有32、35、400℃3种设置模式,从测试结果来看,300 ml潮气量测试误差最大,为7.20%,呼吸速率测试误差最大,为0%。氧浓度参数的测试结果在100%氧浓度下误差最大,为0.1%。在温度和湿度参数测试中,在400℃设置时,最大平均误差为2.40%。因此,由于误差水平较小,且仍在15%的标准校准公差范围内,因此可以得出结论,该工具是可行的。
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引用次数: 0
Investigating and Optimizing the Operation of Microgrids with Intelligent Algorithms 基于智能算法的微电网运行研究与优化
Pub Date : 2022-05-01 DOI: 10.18196/jrc.v3i3.14772
Ahmed Kadhim Hado, Bashar S. Bashar, Musaddak Maher Abdul Zahra, Reza Alayi, Yaser Ebazadeh, Iswanto Suwarno
Microgrids need optimization to reduce economic problems and human losses. Scattered resources in power systems and microgrids have led to many environmental, economic and human, and animal losses. The most important part of these problems is related to voltage and frequency fluctuations when possible occurrences such as extreme load changes or errors in microgrids. These problems lead to microgrid collapse. Therefore, providing optimal solutions that can solve these challenges is essential. For this purpose, the present study has tried to provide a high-performance control structure in the time of internal and external disturbances based on short-term planning. The proposed approach is the use of an evolutionary neuro-fuzzy network. Perhaps the main reason for using this approach can be due to uncertainty in the distribution and distribution of loads in microgrids and power systems. Simulation has been performed in MATLAB and Simulink environments, and the results show that the optimal load distribution has been done evolution in microgrids.
微电网需要优化以减少经济问题和人员损失。电力系统和微电网中分散的资源导致了许多环境、经济、人类和动物的损失。这些问题中最重要的部分与可能发生的电压和频率波动有关,例如微电网中的极端负载变化或错误。这些问题导致微电网崩溃。因此,提供能够解决这些挑战的最佳解决方案至关重要。为此,本研究试图提供一种基于短期规划的内外部干扰时的高性能控制结构。提出的方法是使用进化神经模糊网络。使用这种方法的主要原因可能是由于微电网和电力系统中负载分布和分布的不确定性。在MATLAB和Simulink环境下进行了仿真,结果表明微电网的最优负荷分布已经进行了演化。
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引用次数: 3
Magnetic Adhesion in Wall Climbing Robots using varied Electromagnet Arrangements 采用不同电磁铁排列方式的爬壁机器人的磁性附着力
Pub Date : 2022-05-01 DOI: 10.18196/jrc.v3i3.14748
J. F. G. Poovathy, E. Sathish, Nirmala Paramanandham, Alapati Lakshmi Viswanath
The improvements and innovations in the field of robotics have given a great opportunity to perform tasks that are hazardous for humans to perform. For example, robots can be used for working on high-storied buildings, inspection on ferromagnetic surfaces, painting and maintenance of buildings, surveillance purposes, etc., at the outset, to carry out any operation on vertical surfaces, which may be quite hazardous and time-consuming as well, wall climbing robots (WCRs) can be deployed. The method of adhesion determines the stability of the robot on the wall, be it smooth or coarse. Using magnets to bring about magnetic adhesion would be advantageous when the robot is maneuvered over iron or steel surfaces, typically, to clean boilers, etc., This paper presents the different ways of placements of the magnets, both permanent and electromagnets, in order to introduce adequate magnetic adhesion that would cease the robot from toppling down while encountering an obstacle. This work proposes two methods of arrangement of magnets: square and diamond. Four electromagnets when arranged in array formation with 5000 windings of thin copper coil, generated a magnetic field force of approximately 150 N when 50 A of current is passed. By and large, around 35 N to 40 N is the suction force that would be sufficient to stick the WCR of 2kg on the wall, while using a suction chamber instead of electromagnets. Other methods of placing the magnets such as square and diamond are studied and compared as well using FEMM. Hence arranging the 4 electromagnets in array formation gives an adhesion pressure sufficient to hold and move the WCR, over the vertical wall against gravity.
机器人技术领域的改进和创新为人类执行危险任务提供了巨大的机会。例如,机器人可以用于高层建筑上的工作,铁磁表面的检查,建筑物的油漆和维护,监视目的等,在开始时,在垂直表面上进行任何操作,这可能是相当危险和耗时的,可以部署爬墙机器人(wcr)。粘附的方法决定了机器人在光滑或粗糙的墙壁上的稳定性。当机器人在铁或钢表面上移动时,使用磁铁来产生磁性附着力是有利的,通常是清洁锅炉等。本文介绍了磁铁的不同放置方式,包括永久磁铁和电磁铁,以引入足够的磁性附着力,使机器人在遇到障碍物时不会摔倒。这项工作提出了两种排列磁铁的方法:方形和菱形。当四个电磁铁以5000个细铜线圈阵列排列时,当通过50a电流时,产生约150n的磁场力。总的来说,在使用吸力室而不是电磁铁的情况下,大约35牛到40牛的吸力足以将2kg的WCR粘在墙上。此外,还对方形和菱形等磁体的放置方法进行了研究和比较。因此,将4个电磁铁排成阵列形成一个足够的粘附压力,以保持和移动WCR,在垂直壁上对抗重力。
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引用次数: 0
A Systematic Review of Current Trends in Artificial Intelligence for Smart Farming to Enhance Crop Yield 智能农业提高作物产量的人工智能发展趋势综述
Pub Date : 2022-05-01 DOI: 10.18196/jrc.v3i3.13760
M. H. Widianto, Mochamad Iqbal Ardimansyah, Husni Iskandar Pohan, Davy Ronald Hermanus
Current technology has been widely applied for development, one of which has an Artificial Intelligence (AI) applied to Smart Farming. AI can give special capabilities to be programmed as needed. In cooperation with agricultural systems, AI is part of improving the quality of agriculture. This technology is no stranger to being applied in basic fields such as agriculture. This smart technology is needed to increase crop yields for various regions by utilizing the current trends paper. This is necessary because less land is available for agriculture, and there is a greater need for food sources. Therefore, this systematic review aims to collect the current trends in AI studies for Smart Farming papers using the latest year features from 2018-2022. This paper is handy for researchers and industry in looking for the latest papers on research to enhance crop yields. The authors utilized Preferred Reporting Items for Systematic Reviews and Meta-Analyses (PRISMA) of 534 articles from IEEE, ACM, MDPI, IAES, and ScienceDirect. After going through a careful process, 67 papers were found that were judged according to the criteria. After the authors got some of the current trends, the author has discussed several factors regarding the results obtained to enhance crop yields, such as Weather, Soil, Irrigation, Unmanned Aerial Vehicle (UAV), Pest Control, Weed Control, and Disease Control.
目前的技术已经得到了广泛的应用发展,其中就有人工智能(AI)应用于智慧农业。人工智能可以根据需要提供特殊功能。与农业系统合作,人工智能是提高农业质量的一部分。这项技术在农业等基础领域的应用并不陌生。利用当前的趋势,需要这种智能技术来提高各个地区的作物产量。这是必要的,因为可用于农业的土地越来越少,而对食物来源的需求越来越大。因此,本系统综述旨在利用2018-2022年的最新年份特征收集智能农业论文中人工智能研究的当前趋势。这篇论文对研究人员和工业界寻找有关提高作物产量的最新研究论文很有帮助。作者使用了来自IEEE、ACM、MDPI、IAES和ScienceDirect的534篇文章的首选报告项进行系统评价和荟萃分析(PRISMA)。经过仔细的审查,选出了67篇符合标准的论文。在作者了解了当前的一些趋势之后,作者讨论了有关提高作物产量的结果的几个因素,如天气、土壤、灌溉、无人机(UAV)、害虫控制、杂草控制和疾病控制。
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引用次数: 8
A Free Space Optic/Optical Wireless Communication: A Survey 自由空间光/光无线通信:综述
Pub Date : 2022-05-01 DOI: 10.18196/jrc.v3i3.14590
B. Mahdi, E. Essa
The exponential demand for the next generation of services over free space optic and wireless optic communication is a necessity to approve new guidelines in this range. In this review article, we bring together an earlier study associated with these schemes to help us implement a multiple input/multiple output flexible platform for the next generation in an efficient manner. OWC/FSO is a complement clarification to radiofrequency technologies. Notably, they are providing various gains such as unrestricted authorizing, varied volume, essential safekeeping, and immunity to interference. 
对下一代自由空间光通信和无线光通信服务的指数级需求是批准该范围内新准则的必要条件。在这篇综述文章中,我们汇集了与这些方案相关的早期研究,以帮助我们以有效的方式为下一代实现多输入/多输出灵活平台。OWC/FSO是对射频技术的补充澄清。值得注意的是,它们提供了各种好处,如不受限制的授权、不同的数量、必要的安全保管和不受干扰。
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引用次数: 0
ROS 2 Configuration for Delta Robot Arm Kinematic Motion and Stereo Camera Visualization Delta机械臂运动学运动的ROS 2配置及立体摄像机可视化
Pub Date : 2022-05-01 DOI: 10.18196/jrc.v3i3.14436
K. Saipullah, Wira Hidayat Mohd Saad, Sook Hui Chong, Muhammad Idzdihar Idris, Syafeeza Ahmad Radzi
The Delta robot is one of the robot types that is used in agriculture and industrial application. However, before the complex physical development of the robot, a simulation needs to be developed to ensure the perfect functionality of the design. Therefore, this paper presented a development of simulation for a parallel delta robot using a Robot Operating System 2 (ROS 2) environment and stereo camera visualization.  The contribution of this research is to present the development details and the proposed solution to solve issues encountered during the development. The development of script in the format of eXtensible Markup Language (XML), Unified Robot Description Format (URDF), and Simulation Description Format (SDF) are presented for describing a robot's physical structure, allowing a robotic system to be depicted in a tree structure, and defining the delta robot arm, which is made up of closed-loop kinematic chain linkage that will be simulated in Gazebo. For the results, several Gazebo plugin libraries are compared and tested for the wheels motion control, stereo camera visualization, and delta robot arm kinematic motion. From the experiment, the best method is inverse kinematic motion the method is selected and used in the simulation. The selected method resulted in an average percentage error of 3.92%, 3.72%, and 2.92%, respectively for each joint.
德尔塔机器人是用于农业和工业应用的机器人类型之一。然而,在机器人复杂的物理开发之前,需要进行仿真开发,以确保设计的完美功能。因此,本文提出了一种基于机器人操作系统2 (ROS 2)环境和立体摄像机可视化的平行delta机器人仿真开发方法。本研究的贡献在于展示了开发的细节以及针对开发过程中遇到的问题提出的解决方案。提出了可扩展标记语言(XML)、统一机器人描述格式(URDF)和仿真描述格式(SDF)格式脚本的开发,用于描述机器人的物理结构,允许机器人系统以树状结构进行描述,并定义由闭环运动链连杆组成的delta机器人手臂,将在Gazebo中进行仿真。针对结果,对几个Gazebo插件库进行了车轮运动控制、立体摄像机可视化和delta机器人手臂运动的比较和测试。从实验结果来看,选择逆运动学方法是最佳的方法,并将其应用于仿真。所选方法对每个关节的平均百分比误差分别为3.92%、3.72%和2.92%。
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引用次数: 1
期刊
Journal of Robotics and Control (JRC)
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