Le Hiina Linh 73(I1):7I -77 Tap chi KHOA HOC & CONG NGHE MO HINH ROBOT DIEU KHIEN TU XA BANG MAY TINH THONG QUA SONG RADIO Le Hiing Linh', Duong Chinh Cuong, Ngo Huu Huy Khoa Cdng nghe thdng tin - DH Thdi Ngii\ en TOM TAT ' ^ , ' , ; , Hien cac robot cang dong vai tro quan trong cac qua trinh cong nghiep cung nhu ddi song hiing Viec ii'ng dung cac loai robot vao cong nghiep se giiip cho qua trinh san xuat dugc nhanh chong va dam bao chinh xac cao Nhung hien nav d Viet Nam robot hau nhu chua dugc sii' dung rgng rai, khai niem robot dang dugc bien miiy nam gan day Do vay, ITnh vuc nghien ciru vii che tao robot phuc vu cho san xuat cung nhu cac muc dich dan dung van kha mdi me Robot co riit nhieu loai nhu la robot su' dung cac day chuyen san xuat, robot dudng, robot lau chiii ciia kinh cho cac toa nha cao tang, robot chong khung bo Trong biii bao chiing toi nghien ciiu long quan ve cac kien thii'c lien quan den nguyen ly hoat dgng vii each thiic dieu khien Robot va cac mo hinh robot; Tim hieu cac tai lieu va thiet bi lien quan; Phan tich va thiet ke mo hinh robot dieu khien tii' xa bang song dien tii' Xav dung mach dieu khien robot, thiet ke co' cho robot va thirc hien dieu khien robot thdng qua mo dun truyen thdng bang song dien tir Xay dung chuong trinh dieu khien robot tren mav tinh va luu lai qua trinh boat dgng cua robot, mo phong trang thai hoat dgng cua robot tren may tinh Til' khoa: Md phong trang thdi sdng dien lir lud hinh ehwrng trinh dieu khien TONG QUAN CAC MO IIINII ROBOT Djnh nghTa [4|: "Mot kieu md hinh la mdt triet ly hoac mot tap hop nhiing cdng nhan va ky thuat md ta dac diem each tiep ciin mot Idp cac van de Nd vira la each xem xet the gidi vira la mdt tap hgp cac cdng cu giai quyet van de." Ljcb sir phat trien robot da trai qua kieu md hinh dd la kieu thu b;ic kieu phan hdi va kieu long hcip Trong mot he thdng robot, ludn ludn tdn tai ba nhdm chirc nang eo' ban dd la Cam nhdn Hdnh ddng va Lap ke hogch Cac kieu md hinh robot dircTC xac dinh dua tren mdi quan be cua nhdm chirc niing co' ban dd Kieu md hinh thir biic: '''' Diiy la kieu md hinh xiuit bien dau tien, dd robot cd bat chudc ciich eon ngudi suy nghi: sau cam nhan dugc ve the gidi xung quanh, ngudi ta se suy nghT de lap ke hoach, va hanh ddng diip irng Vdi each niiy, diT lieu cam nhiin thudng phai diiv du dc- cd mdt diinb giii bao quai ve mdi truirng xung quanh sau dd ludn qua xir ly d buirc lap ke hoach • Tel: 09290"SHSi Ciiiii nli.iii •! I.;i|i k i ' l i i u ' l i llanli IKIIIL: Hinh L Kieu mo hinh Ihir bac Nhu vay kieu khdng cho phep diT lieu truyen thang den hanh ddng nhu kieu mot phan xa vd dieu kien dieu lam cho robot Ird nen thieu nhanh nhcn Kieu md hinh dii khdng cdn direjc sir dung tir bon 20 niim qua Kieu md hinh phan hdi: Kieu phan xa gan nhu ngugc lai vdi kieu thu bac kieu khdng giu lai phan lap ke hoach cac cam nhan cua robot se dugc truven true tiep sang hanh ddng (Vuii nhan lanh den'' Hinh Kieu mo hinh phan hoi Theo kieu robot cbira siin nhieu cap tuong irng Cam nhan - I Lanh ddng, dugc ggi la cac bd hanh vi Ciic biinb vi xay cd tinh ddng thdi dugc xix ly rieng re Vii v i robot cd the thuc hien nhieu hiinb vi mdt hie khdny lap ke hoach ncMi nd tiel kiem dugc rat nhieu 71 Tap chi KHOA HOC & CONG NGHE I.e HunL; Linh vd es thoi gian Kieu md hinh nav dii mang den nhicii ibanii tiru to Idn nhung rd rang nd khdng thich bop vdi cac loai robot niiieii chirc niiiig Kieu gidng nhu kieu nguoi ta day cac vat mil khdng liim cho vat suv nghi thdng minh bon Kieu md binh ddi bdi su hieu biet ve khdng gian boat dgng toiin cue trudc kbi hap trinh de tini lat ca cac hiinh vi cd the co cua robot Ciic nhii nghien cuu thuc bien md iiinh niiy de giam thieu gia tlianh phiin cirng cua san pham being Ccicb tang mirc tinh loan ban dau kbi tao cac hiinh v i cua robot Kieu mo hinh tong hop: Kieu tdng hgp la sir ket hgp kieu md hinh tren liim cho robot suv nghT uyen chuyen gidng ngudi ho'n va bien hiiii bet cac nghien cuu di theo bucing niiy Kieu niiy tach viec liip ke hoach khoi cac biinh vi cua robot DE XUAT MO DIEU KHIEN TLJ'XA ( l l ) : -77 HINH ROBOT Lira chgn dugc md hinh phii hgp nhiil se giiip cho viec giai quyet van de de diing hon Vi viiy viec biet cac kieu md binh ciia cong nghe robot la mot chia khoa de cd the cdng viec thiet ke cho mdi irng dung .Md binh dieu khien robot tir xa bang may tinh thdng qua sdng dien tir dugc xiiy dung theo kieu md hinh tdng hop (TTinh 3) Dieu khien robot tu xa can cd tin bieu trang thai phan bdi tir robot de biet dugc trang thai ciia robot tai tirng tbdi diem, giiip cho viec dieu khien de diing va chinh xiic Robot diroc dieu khien tir xa biing niay tinh viec liip ke hoach, luu tru thdng tin miiy tinh thuc hien roi gui yeu ciiu ciin thuc hien cho robot Robot be thdng tiep nhan thdng in chu yen lir may tinh truyen qua bd thu/phat sdng RF Do dd viec lira chgn md binh theo md hinh long hgp da dap irng du theo y eu ciiu ciia he thong i 1 ,ip k^' llOlk'll ('.un nil.Ill 1f l.iiih (liiih.' M.T.- Illlil Hinh Kieu mo hinh tong hop Lap ke hoach luong tac vdi cac bd bimh vi biing mot phuong thirc ma ngucTi ta ggi la "nghe len" "Nghe len" lii mdt phuong thirc lay thdng tin tir bd phan Cam nhiin de dieu chinh lai cac thdng lin toim cue tac ddng trd lai cac hiinh v i cua robot Vdi kieu md binh niiv cac robot thdng minh bon va cimg khdng tdn nhieu thdi gian cho V iec kip ke hoach nhu o md binh thir bac vii lai cho phep robot thuc bien nhieu chiic niinu lion so veVi md binh phan hdi Kieu md hinh xiic suat: Kieu md binh lii mot kieu mo binh mdi su dung tat ca cac kieu md binh tren nbunu thav vi tinh toan vdi cac thdng so cu thd tat ca cac dd lieu va trang thai ciia robot deu o dudi dang xac suiit va thdng ke Kieu mo hinh nav cho phep robot giam thieu cac linh to;in liing kha nang boat ddng cac mdi trudng ihicu thdng tin vdi ciic cam biilMi cd sai so Ion va kha nimg dieu khien ben v ui-m 72 / p ' dm • |ili.il iv\K i.i.lifl Eo tliii • pint -nil- i.-Kii, Hinh Mo hinh tdng quan he thong Xiiy dung md binh He thdng Robot dieu khien tu xa biing may tinh bao gdm bai chuong trinh tren may tinh va tren Robot May tinh va Robot lien lac vdi bang sdng dien tu He thdng duoc mo ta nhu binh ve Trong be thdng May tinh va Robot cd the lien lac vdi vdi mot khoang each \a bang sdng dien tu Khoang each giira May tinh vii Robot cd khoang each \o\ da lii 900 m (khdng dimg iing ten) vii 63 km (kbi diing ang ten) Trong dd May tinh sc thuc hien dieu khien Robot, ddng tbdi no cung luu lai lich trinh boat dgng ciing nhu trang thai cua Robot Robot se thuc hien viec di cbuyt^n va lam viec theo su dieu khien cua may tinh Md binh robot dugc lien biinb xay dung gom ciic phiin sau: Le Hiins: Linh v(; c'.v 73(11): 71 - 7 Tap chi KHOA HOC & CONG NGHE He thdng phat ddng vii chap bimh He thdng cam bien Bd dieu khien gdm ca phiin mem va phan cirng he thdng Chuong trinh dieu khien He thong phat dong va chSp hanh: Chuven dong ciia robot duoc thuc hien boi he thong He thong bao g6m: - Ngudn cung ciip dien - Khuyech dai cdng siuit - Ddng CO' - Truyen ddng co' Hinh la so dd ghep ndi he thdng phat ddng vii chap hanh dd the bien sir cbiiydn ddi nang lugng Ni^iioii tlj;ii Chuong trinh dieu khien tren may tinh dirge viet biing ngdn ngii' Microsoft Visual Basic 6.0; Chuong trinh se cung cap mdt giao dien don gian, de sir dung cho viec dieu khien nhu: dieu khien robot tien liii quay trai quav phai nang/ha canh tay gap.iiha viit, quay true, bien thi nhung thdng tin hien thdi cua robot, luu lai Ijch trinh boat dting ciing nhu trang thai cua Robot Chuong trinh dieu khien tren chip Atmegal6 duoc viet bang ngdn ngu C Sau kbi nhan duoc tin hieu dieu khien tir may tinh chuong trinh dieu khien se xac djnh cdng viec phai liim vii khdi luong cdng viec ciin lam cho robot mdt each chinh xac nhu xac dinh lien, liii bao nhieu: quay trai quay phai bao nhieu quay true bav quav xe gap bay nha vat niing hay canh tay va gui tin hieu phan bdi cho may tinh Pbiro'ng trinh loan bgc su dung robot _KliM>iclnI,ii C d l l U VII.ll l i i i \ O n (Inn 11 kill T Robot cd the thao tac cac cdng viec theo diing yeu cau vdi chuong trinh dieu khien tren CPU ciia robot dugc kip trinh chinh xac Mdt sd phuong trinh ccSjig thirc sir dung chuong trinh nlur: phuong trinh tinh qiuing duirng di chuven tinh gck quav xe linh gdc quay true Sau nhiin dugc quiing dudng ciin di chuyen gdc ciin quay gui tir mav tinh robot dua viio phuong trinh de tinh sd xung dieu khien Hinh So he thiing phai dgng va ch§p hanh De the hien quan be chung P^ the hien tin hieu dieu khien P,, ki cdng suiit co hoc can thiet dc kim robot chuyen ddng Cac dai luong trung gian cdng suiit dien cung ciip cho dting ecr P., cdng siiiil ngudn P,, cdng suat CO' hgc dcing co' phat P,,, Ngoai cdn cd cac loai cdng suat tdn hao Irong cac kh