مدل‌سازی بازوی مکانیکی دانش‌بنیان بالابر باسکول‌دار با رویکرد شبیه‌سازی و استنتاج فازی

نوع مقاله : مقاله پژوهشی (کاربردی)

نویسندگان

1 دانشجوی دکتری، گروه مدیریت صنعتی، واحد فیروزکوه، دانشگاه آزاد اسلامی، فیروزکوه، ایران.

2 استادیار، گروه مدیریت صنعتی، واحد فیروزکوه، دانشگاه آزاد اسلامی، فیروزکوه، ایران.

چکیده

تاکنون کنترل‌کننده‌ها اغلب از معادلات حاکم بر سینماتیک مستقیم یا سینماتیک معکوس، با هدف کنترل موقعیت مجری نهایی بازوی رباتیک استفاده می‌کردند. حل دشوار معادلات سینماتیک مستقیم و سینماتیک معکوس، خطا در حل معادلات، نبود محیط گرافیکی کاربرپسند، انعطاف‌ناپذیری در تصمیم‌گیری کنترل‌کننده و حجم زیاد محاسبات از مشکلات سیستم‌های کنترلی موجود در کنترل بازوهای رباتیک می‌باشد. در این مقاله، ربات بالابر باسکولدار توسط دو روش کنترلی PID کلاسیک و Fuzzy و با تعداد درجه آزادی 4 به همراه ارائه شبیه‌سازی که در آن چهار قسمت از بازو توسط کنترل‌کننده بررسی شده و از Matlab/Simulink به‌عنوان ابزار برای آزمایش ویژگی‌های حرکتی بازوی ربات استفاده شده است. خروجی‌های پیاده­سازی نشان‌دهنده عملکرد رضایت‌بخش کنترل‌کننده فازی طراحی شده است که توانسته با درصد بالازدگی و زمان نشست مطلوب 1.23 ثانیه به کنترل بازوهای این ربات بپردازد. همچنین به‌منظور آزمون عملکرد ربات بالابر باسکولدار، گره‌های حرکت بازو را هم به‌صورت مطلوب قرار داده و سیستم موردکنترل نشان از دقت بالای کنترل‌کننده فازی دارد؛ به‌طوری که بعد از گذشت 1.23 ثانیه در نقطه بحرانی یعنی مچ دست ناحیه wrisrt توانسته با نشستی مطلوب با خطای ماندگار صفر و بدون هیچ به‌هم‌خوردگی تداوم پیدا کند.

کلیدواژه‌ها

موضوعات

عنوان مقاله [English]

Knowledge-based Mechanical Arm Modeling of Bascule Lift with Simulation Method and Fuzzy Inference Approach

نویسندگان [English]

  • Reza Rahbar Hadi Bigloo 1
  • Mohammad Mehdi Movahedi 2
1 PhD Student, Department of Industrial Management, Firoozkooh Branch, Islamic Azad University, Firoozkooh, Iran.
2 Assistant Professor, Department of Industrial Management, Firoozkooh Branch, Islamic Azad University, Firoozkooh, Iran.
چکیده [English]

Thus far, controllers have often used the equations governing direct kinematics or reverse kinematics to control the position of the final implement of the robotic arm. Difficulties in unravelling direct kinematic equations and reverse kinematics, errors in solving equations, lack of user-friendly graphical environment, lack of flexibility in controller decision making and large volumes of calculations are problems of control systems in controlling robotic arms. In this paper, a skeletal lift robot with two classic PID and Fuzzy control methods with 4 degrees of freedom, in addition to a simulation in which four parts of the arm were examined by the controller and Matlab / Simulink as a tool for feature testing were used. Robotic arm movements were used. Implementation outputs show the satisfactory performance of the fuzzy controller which was able to control the arms of this robot with a percentage of uplift and a desired sitting time of 1.23 seconds. Furthermore, in order to test the performance of the scaffolding robot, the movement nodes of the arm were placed optimally and the controlled system showed the high accuracy of the fuzzy controller so that after 1.23 seconds at the critical point, the wrist area, it was able to continue with the desired sitting with a permanent error of zero and without any distortion.

کلیدواژه‌ها [English]

  • Palletizer
  • Robot arm
  • 4DOF
  • Controller PID
  • Controller fuzzy

مراجع

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فصلنامه علمی کارافن
دوره 19، شماره 1 - شماره پیاپی 57
فنی و مهندسی
خرداد 1401
صفحه 403-428

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سابقه مقاله

  • تاریخ دریافت: 03 شهریور 1400
  • تاریخ بازنگری: 12 بهمن 1400
  • تاریخ پذیرش: 28 اردیبهشت 1401

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