Luận văn thạc sĩ Kỹ thuật cơ điện tử: Nghiên cứu thiết kế và điều khiển robot giải trí dạng người

Mục tiêu của luận văn này là thiết kế một robot dạng người kích thước nhỏ, cao khoảng 300 mm, gồm 17 bậc tự do bao gồm 1 bậc điều khiển quay đầu, mỗi tay 3 bậc và mỗi chân 5 bậc, thực hi

THIӂT Kӂ &Ѫ.+Ë

ThiӃt kӃ ÿӝQJFѫ6HUYR

ĈӝQJFѫ6HUYRGҥng module bao gӗPÿӝQJFѫ'&Eӝ giҧm tӕFEiQKUăQJPҥch ÿLӋQÿLӅu khiӇQYjSKҫn vӓĈӇ lӵa chӑQÿӝQJFѫ'&Fҫn biӃWÿѭӧFJLiWUӏ WRUTXHYj F{QJVXҩt cҫn thiӃt cӫDÿӝQJFѫ6HUYR7KHRWjLOLӋu [23@ÿmWtQKWRiQWRUTXHYjF{QJ suҩt cҫn thiӃt cӫDÿӝQJFѫ6HUYRGQJFKRPӝWKXPDQRLGURERWNtFKWKѭӟc 300 mm

7KHRÿyJLiWUӏ torque lӟn nhҩWÿӝQJFѫSKҧi chӏXOj1PÿmQKkQYӟi hӋ sӕ an WRjQYjF{QJVXҩt cҫn thiӃWOjNKRҧQJ:+DLWK{QJVӕ Qj\ÿѭӧc chӑQOjPÿҫu YjRÿӇ WtQKWRiQOӵa chӑQÿӝQJFѫ'& ĈӝQJFѫ6HUYRÿѭӧc thiӃt kӃ sӱ dөng bӝ EiQKUăQJNLPORҥLFyVҹn trrQWKӏ WUѭӡng

Bӝ EiQKUăQJQj\ÿѭӧFGQJWURQJÿӝQJFѫ0*5FӫDKmQJ7RZHU3URPӝWÿӝQJFѫ 5&6HUYRWK{QJGөng trong thiӃt kӃ URERWFiQKWD\Pi\PLQLôYӟLJLiWUӏ torque tӕi ÿDOj1PQrQÿҧm bҧRÿӫ ÿӝ bӅn cҫn thiӃt &iFWK{QJVӕ chi tiӃt cӫa bӝ biQKUăQJ ÿѭӧFWUuQKEj\ӣ Bҧng 3.4

0{- ÿXQ (mm) Ĉѭӡng NtQKQJRjL

(mm) Ĉѭӡng NtQKYzQJ chia (mm)

*LiWUӏ torque cҫn thiӃt cӫDÿӝQJFѫ'& ܶ ஽஼ ൌ ܶ ܩ݁ܽݎܴܽݐ݅݋ ൌͲǡͺͷʹ ʹ͸Ͳ ൌ ͲǡͲͲ͵͵ሺܰǤ ݉ሻ ൌ ͵ǡ͵ሺ݉ܰǤ ݉ሻ

&{QJVXҩt cҫn thiӃt cӫDÿӝQJFѫ'& ܲ ஽஼ ൌ ܲ ͹ͷΨ ൌ ͳǡͳ ͹ͷΨൌ ͳǡͶ͹ሺܹሻ VӟLJLiWUӏ WRUTXHYjF{QJVXҩt vӯDWtQKÿѭӧc, ta chӑn ÿӝQJFѫ'&5)-130CH-12250 cӫDKmQJ0DEXFKL0RWRU1Kұt Bҧn vӟLFiFWK{QJVӕ FKtQKQKѭBҧng 3.5

&{QJVXҩt 0,03 ± 2,5 W ĈLӋQiS Giӟi hҥn 2 ± 6 V Ĉӏnh mӭc 6 V

Bҧng 3.5: &iFWK{QJVӕ cӫDÿӝQJFѫ'&5)-130CH-12250 3.2.1b ThiӃt kӃ phҫn vӓ ÿӝQJFѫ

+uQK: Cҩu tҥo cӫDÿӝQJFѫ6HUYRÿѭӧc thiӃt kӃ

7KHRQKѭ+uQK, thiӃt kӃ cӫDÿӝQJFѫJL~SNӃt nӕi giӳa FѫNKtYjÿLӋQÿѫQ giҧn, dӉ GjQJKѫQ0ҥFKÿLӋQÿLӅu khiӇQFyKDLKHDGHUJLӕQJQKDXJL~SFiFÿӝQJFѫ Servo cyWKӇ kӃt nӕi theo kiӇXGDLV\FKDLQWKD\YuNLӇXKuQKVDRĈӝQJFѫ6HUYRFyWKӇ lҳp cӕ ÿӏnh vӟLFiFEӝ phұQNKiFEҵng 4 bulong bҳW[X\rQTXDSKҫQWKkQKRһc bҵng khӟp nӕi lҳp ӣ SKtDFXӕLÿӝQJFѫFǊQJQKѭNӃt nӕLWUrQWUөc xoay tҥi hai vӏ WUtQKѭ

+uQK 4XDÿyFyWKӇ thҩ\U}NtFKWKѭӟc tәng quan cӫDÿӝQJFѫ6HUYR+uQK) ÿӇ thiӃt kӃ cho phҫQWKkQFӫa robot

1 Nҳp hӝp 2 Bӝ EiQKUăQJ 3 7KkQKӝp 4 Trөc 5 Ә OăQ 6 7KkQWUXQJJLDQ 7 %RDUGÿLӋn 8 Ĉi\Kӝp 9 ĈӝQJFѫ

+uQK21: tFKWKѭӟc tәng quan cӫDÿӝQJFѫ6HUYR

+uQK22: &iFSKѭѫQJiQUiSNKӟp nӕi giӳDFiFÿӝQJFѫ

ThiӃt kӃ tәng thӇ cho robot

ViӋc bӕ WUtNKӕLOѭӧQJWUrQURERWUҩt quan trӑng KhӕLWkPFӫDURERWQrQQҵm cao nhҩWFyWKӇ YuNKLÿyURERWVӁ FyWKrPWKӡLJLDQÿLӅu chӍQKNKLFy[XKѭӟng bӏ QJm'R ÿyQKӳng phҫn nһng nhҩt cӫa robot sӁ ÿѭӧFÿѭDOrQWUrQ3LQOjSKҫQFyNKӕLOѭӧng nһng ÿiQJNӇ GRÿyVӁ ÿѭӧFÿһt ӣ WKkQURERW3KҫQWKkQURERWSKҧLÿѭӧc thiӃt kӃ ÿӇ lҳp tay FKkQYjFKӭDSLQFQJPҥFKÿLӅu khiӇn KhӕLOѭӧQJQrQÿѭӧc bӕ WUtFkQEҵng giӳDErQWUiLYjErQSKҧLFǊQJQKѭJLӳDÿҵQJWUѭӟFYjÿҵng sau, nӃXNK{QJVӁ Jk\UDWLrXWӕn QăQJOѭӧQJNK{QJFҫn thiӃWFKRÿӝQJFѫ

33 ĈӇ bҳWÿҫu thiӃt kӃ chi tiӃWNtFKWKѭӟFFiFNKkXFҫQÿѭӧF[iFÿӏnh TӍ lӋ NtFK WKѭӟFFiFEӝ phұn cӫDQJѭӡi thұWQKѭ+uQK23 ÿѭӧF[HPOjÿҫXYjRFKREjLWRiQWKLӃt kӃFjQJWXkQWKHRWӹ lӋ ÿyWKuURERWVӁ FjQJJLӕng QJѭӡL.tFKWKѭӟFѭӟFOѭӧQJEDQÿҫu cӫDURERWÿѭӧFWUuQKEj\ӣ Bҧng 3.6

+uQK: Tӹ lӋ NtFKWKѭӟFFiFSKҫn cӫDFѫWKӇ QJѭӡi [24]

ChiӅXFDRURERW+§PP TӍ lӋ (/H) tFKWKѭӟc (mm)

Bҧng 3.6: tFKWKѭӟFѭӟFOѭӧQJEDQÿҫu cho robot

6ѫÿӗ NtFKWKѭӟc cӫDURERWÿѭӧc thiӃt kӃ QKѭ+uQK24

ThiӃt kӃ tӯng bӝ phұn cho robot

Phҫn quan trӑng cӫa cөPWD\OjFKRFiQKWD\ÿӕi xӭQJQKDXÿӇ giӳ FkQEҵng FKRURERW7KHRQKѭ+uQK3.25, giӳDÿӝQJFѫ6HUYRÿѭӧc nӕi vӟi nhau bҵng 2 khӟp nӕi, mӝWÿҫu cӫDFiQKWD\ÿѭӧc gҳQEjQWD\PүXÿӇ tҥo thҭPPƭFKRURERWSKҫQFzQOҥi ÿѭӧc lҳp chһt vӟLWKkQURERWEҵng bulong

&ǊQJQKѭSKҫn cөm tay, phҫn cөm chkQFǊQJFҫn thiӃt kӃ ÿӇ ÿҧm bҧRFkQÿӕi FKRURERW7KHRQKѭ+uQK, giӳDÿӝQJFѫ6HUYRÿѭӧc nӕi vӟi nhau bҵng 3 khӟp nӕLULrQJÿӝQJFѫFӫa cөm gӕLÿѭӧc lҳp chһWYjRNKXQJJӕi vӯa tҥo thҭPPƭFKRURERW vӯDÿӏnh vӏ khoҧQJFiFKJLӳDÿӝQJFѫFӫa cөm gӕi MӝWÿҫu cӫa cөPFKkQÿѭӧc lҳp chһt vӟLNKXQJEjQFKkQEҵng bulong, phҫQÿҫXFzQOҥLFǊQJÿѭӧc lҳp chһt vӟLWKkQ robot bҵng bulong

6DXNKLKRjQWKjQKWKLӃt kӃ WD\YjFKkQWKuFҫn kӃt nӕi tәng thӇ FiFEӝ phұn lҥi vӟi nhau PhҫQÿҫu cӫDURERWFyEӕ WUtWKrPÿqQOHGӣ vӏ WUtPҳt cӫa robot, phҫQWKkQ cӫDURERWGQJÿӇ giӳ cӕ ÿӏQKFiFQKiQKFӫa cөPWD\YjFөPFKkQÿӗng thӡLFǊQJOj QѫLOҳSSLQYjKӋ thӕQJÿLӋn giao tiӃp vӟLPi\WtQK7RjQEӝ P{KuQKWKLӃt kӃ 3D robot ÿѭӧc thӇ hiӋn qua +uQK

+uQK27: ThiӃt kӃ 3D tәng thӇ cӫa Robot

Sau khi thiӃt kӃ tәQJTXDQ'URERW[RQJVRViQKYӟLNtFKWKѭӟFѭӟc chӯng EDQÿҫu qua Bҧng 3.7 nhұn thҩ\FiFWK{QJV{Fҫn thiӃt nҵm trong khoҧng sai sӕ 20%, QJKƭDOjURERWQKuQVӁ FKѭDJLӕng hҷn mӝWFRQQJѭӡi thӵc

tFKWKѭӟFEDQÿҫu tFKWKѭӟc sau thiӃt kӃ Sai sӕ

ChiӅu cao robot 300 mm 352,8 mm 17,6%

Bҧng 3.7: ĈiQKJLiNtFKWKѭӟc sau thiӃt kӃ YjNtFKWKѭӟFEDQÿҫu

Vӟi sai sӕ ÿӕi vӟi robot giҧLWUt QrQYүn hӧSOtYӟi mөFWLrXFӫa luұQYăQ DӵDYjR phҫQWtQKWRiQWKLӃt kӃ WUrQÿmÿѭDUDÿѭӧFP{KuQKWKӵc tӃ QKѭ+uQK 3.28

+uQK28: +uQKҧnh thӵc cӫa robot

THIӂT Kӂ Ĉ,ӊN

Giao tiӃp giӳDÿӝQJFѫYjPi\WtQK

1KѭÿmWUuQKEj\ӣ phҫn lӵa chӑn SKѭѫQJiQURERWÿѭӧFÿLӅu khiӇn theo kiӇu cҩXWU~FGҥQJSKkQWiQWURQJÿyPi\WtQKÿyQJYDLWUzPDVWHUYjPӛLÿӝQJFѫOjPӝt slave Chuҭn giao tiӃSÿѭӧc lӵa chӑQOj56Ĉk\OjFKXҭn giao tiӃSPjKҫu hӃWFiF

YLÿLӅu khiӇQÿӅu hӛ trӧ YjFyWKӇ giao tiӃSÿѭӧc vӟLPi\WtQK&KXҭn giao tiӃp UART chӍ hӛ trӧ giao tiӃp Point ± to ± 3RLQWYjGѭӡQJQKѭNK{QJSKKӧSWURQJWUѭӡng hӧp Qj\7X\QKLrQFyWKӇ [HPWRjQEӝ FiFÿӝQJFѫOjPӝWÿLӇPYjPi\WtQKOjÿLӇPFzQ lҥi, tҥRWKjQKPҥng multi drop-RXWQKѭ+uQK290i\WtQKJLӳ YDLWUzFKӫ ÿӝng trong viӋc giao tiӃp, gӱLFiFJyLGӳ liӋu hoһFJyLOӋQKFjLÿһWWURQJÿyFyFKӭDÿӏa chӍ ID cӫa ÿӝQJFѫÿtFK7ҩt cҧ FiFÿӝQJFѫWURQJPҥQJÿӅu nhұQÿѭӧFJyLGӳ liӋXQj\QKѭQJFKӍ FyÿӝQJFѫFy,'WUQJYӟL,'WURQJJyLGӳ liӋu mӟi thӵFWKL\rXFҫXYjJӱLJyLGӳ liӋu phҧn hӗi (nӃXFyQKҵPÿҧm bҧo tҥi mӝt thӡLÿLӇm chӍ FyPӝWÿӝQJFѫJӱi dӳ liӋXĈLӅu Qj\FyWKӇ thӵc hiӋQÿѭӧc vӟi giao thӭc giao tiӃSSKKӧS&iFGLRGHÿѭӧFWKrPYjRÿӇ WUiQKKLӋQWѭӧng ngҳn mҥch giӳDFKkQTXD cӫDÿӝQJFѫJӱi dӳ liӋXWKD\ÿәi giӳa mӭc FDRYjPӭc thҩp khi gӱLYjFKkQ7;'FӫDFiFÿӝQJFѫNKiFOX{Qӣ mӭc cao khi ӣ trҥQJWKiLQJKӍĈѭӡQJGk\Qӕi vӟLFKkQ5;'FӫDPi\WtQKÿѭӧFWKrPÿLӋn trӣ NpROrQ ÿӇ giӳ ӣ trҥQJWKiLFDRNKLQJKӍ

+uQK: Multi drop-out UART

ThiӃt kӃ mҥFKÿLӋn trung gian

- Cҩp nguӗQSKKӧSFKRFiFÿӝQJFѫ - Trung gian giao tiӃp giӳDPi\WtQKYjFiFÿӝQJFѫ ĈӝQJFѫ6HUYRKRҥWÿӝng vӟLÿLӋQip 6V, nguӗQÿLӋQ9ÿѭӧc lҩy tӯ pin Lipo 25C ± 7.4V ± P$KYjTXDPҥch giҧPiSÿӇ giҧm xuӕQJ9ѬӟFWtQKPӛLÿӝQJFѫ khi hoҥWÿӝQJEuQKWKѭӡQJWLrXWKө GzQJNKRҧng 0,2 mA Vӟi 17 ÿӝQJFѫGzQJWәng cӝng khoҧng 0,2*17 = 3,4(A) Ta lӵa chӑn mҥch giҧPiS 12A vӟLFiFWK{QJVӕ FKtQK - ĈLӋQiSÿҫXYjR± 30V

- ĈLӋQiSÿҫXUDÿLӅu chӍQKÿѭӧc tӯ 0.8 ± 30 V

- ĈLӅu chӍQKÿѭӧc giӟi hҥQGzQJ - HiӋu suҩt: 96 %

- Led nguӗQOHGEiRGzQJWӕWOHGEiRGzQJWӟi mӭc giӟi hҥn

6ѫÿӗ QJX\rQOêFӫa mҥFKÿLӅu khiӇQWUXQJJLDQÿѭӧc thӇ hiӋn ӣ +uQK

+uQK3.30: 6ѫÿӗ QJX\rQOêPҥFKÿLӋQÿLӅu khiӇn trung gian

ThiӃt kӃ mҥFKÿLӋQÿӝQJFѫ

5RERWVӱGөQJ7 ÿӝQJFѫ6HUYRPӛLÿӝQJFѫFyGzQJOӟQQKҩWOj$- 1,8A [22], GzQJGjQKFKRYLÿLӅXNKLӇQѭӟFWtQKOj$Yұ\WәQJ FӝQJGzQJWLrXWKөWtQK FKRWUѭӡQJ KӧSOӟQQKҩWOj 1,8 x 17 + 0,1= 30,7A 'zQJQj\Uҩt lӟn QKѭQJNhi thӵc hiӋQWHVWWUrQVҧn phҭP+812URERWWUѭӡng hӧp cho cҧ ÿӝQJFѫKRҥWÿӝQJFQJO~F thuSKiWKLӋQGzQJOӟn nhҩt chӍ Oj$

+uQK31 thӇ hiӋQVѫÿӗ khӕi mҥFKÿLӋQÿLӅu khiӇQÿӝQJFѫEDRJӗm khӕi nguӗn, khӕi xӱ OêNKӕLÿLӅu khiӇQÿӝQJFѫFҧm biӃn

+uQK: 6ѫÿӗ khӕi mҥFKÿLӋQÿLӅu khiӇQÿӝQJFѫ

Khӕi xӱ Oêÿѭӧc thiӃt kӃ QKѭ+uQK3.32, sӱ dөQJYLÿLӅu khiӇn 8-bit Atmega328 cӫDKmQJ$70(/Yӟi mӝt sӕ WK{QJVӕ FKtQKQKѭVDX

- 32 KB Flash, 1 KB EEPROM, 2 KB SRAM

KhӕLÿLӅu khiӇQÿӝQJFѫÿѭӧc thiӃt kӃ QKѭ+uQK33, sӱ dөQJGULYHUÿLӅu khiӇn ÿӝQJFѫ7%)1*FӫDKmQJ7RVKLEDYӟLFiFWK{QJVӕ FKtQK

Mҥch cҫX+ÿLӅu khiӇQEăP[XQJWUӵc tiӃp ĈLӋQiSWӕLÿDFKRÿӝQJFѫ9'&GzQJWӕLÿD$ ĈLӋQiSFҩSFKRÿLӅu khiӇn 2,7 ± 6 VDC

ChӃ ÿӝ hoҥWÿӝng: CW / CCW / short break / stop

+uQK3.33: KhӕLÿLӅu khiӇQÿӝQJFѫ

Vcc BIN1 BIN2 BPWM BSTBY BO1 BO2 APWM

Khӕi nguӗQÿѭӧc thiӃt kӃ QKѭ+uQK34FyFiFWtQKQăQJVDX - Cҩp nguӗQ9FKRYLÿLӅu khiӇQYjGULYHUÿLӅu khiӇQÿӝQJFѫWӯ IC nguӗn Low Drop- Out Regulator MIC5205 cӫDKmQJ0LFUHO

- Cҩp nguӗQ9ÿӝ әQÿӏnh cao cho bӝ VRViQK$'&FӫDYLÿLӅu khiӇQYjFҩp cho cҧm biӃn (nguӗn 5V tӯ regulator qua mҥch lӑc LC)

- Bҧo vӋ TXiiSFKRÿӝQJFѫbҵQJFiFKÿRiSÿҫXYjRYjKҥ xuӕQJWKjQK9QӃXTXiiS WtQKWӍ lӋ 9LQ9VDXÿyJLҧPJLiWUӏ 3:0WѭѫQJӭng)

+uQK: Khӕi nguӗn ĈӇ [iFÿӏnh vӏ WUtJyFÿҫu ra cӫDÿӝQJFѫWDVӱ dөng cҧm biӃn biӃn trӣ xoay RDC50 cӫDKmQJ$/3S, Nhұt Bҧn (+uQKĈk\OjPӝt cҧm biӃQFyNtFKWKѭӟc nhӓ gӑQ[[PPÿӝ FKtQK[iFFDR&iFWK{QJVӕ cө thӇ ÿѭӧFWUuQKEj\ trong Bҧng 3.8 +uQK3.36 thӇ hiӋQÿһFWtQKWX\ӃQWtQKFӫa cҧm biӃQQj\

+uQK: Cҧm biӃn RDC50 (www.alps.com)

Mechanical performance Rotational torque 2mN.m max

Electrical performance Total resistance tolerance

Bҧng 3.8: &iFWK{QJVӕ cӫa cҧm biӃn RDC50

+uQK 3.36: ĈһFWtQKWX\ӃQWtQKFӫa cҧm biӃn RDC501015A (www.alps.com)

THIӂT Kӂ Ĉ,ӄU KHIӆN

ThiӃt kӃ bӝ ÿLӅu khiӇn

TUѭӟFNKLÿLYjRWKLӃt kӃ bӝ ÿLӅu khiӇn, cҫQSKkQWtFKP{KuQKÿӝQJFѫServo vӯDWuPÿѭӧc Trong +uQK39 thӇ hiӋQÿiSӭQJYzQJNtQso vӟLÿҫXYjROjKjPVWHS bұc 3NKLFKѭDFyEӝ ÿLӅu khiӇn DӵDYjRÿӗ thӏ ÿyWD[iFÿӏQKÿѭӧFFiFWK{QJVӕ QKѭ ÿӝ vӑt lӕ 0 %, thӡLJLDQ[iFOұp ts = 20,1 s, sai sӕ [iFOұp exl = 0

7KHRÿyÿiSӭng cӫDÿӝQJFѫVDXNKLFyEӝ ÿLӅu khiӇn so vӟLÿҫXYjROjKjPVWHS bұc 3 phҧi thӓDPmQ:

- Ĉӝ vӑt lӕNK{QJYӑt lӕ - ThӡLJLDQÿiSӭng: ts < 0,3s

+uQK: 0{SKӓQJÿiS ӭQJYzQJNtQNKLFKѭDFyEӝ ÿLӅu khiӇn

43 ĈӇ ÿiSӭng cӫa hӋ thӕQJÿѭӧFQKѭWLrXFKtÿmÿӅ ra, ta sӱ dөng bӝ ÿLӅu khiӇn PID theo Vѫÿӗ ÿLӅu khiӇn QKѭ+uQK40 vӟLF{QJWKӭc tәQJTXiWQKѭVDX

+uQK: 6ѫÿӗ ÿLӅu khiӇn PID (www.wikipedia.org)

7URQJÿy.P OjKӋ sӕ NKkXWӍ lӋJL~SKӋ thӕQJÿiSӭQJQKDQKKѫQ.I OjKӋ sӕ NKkXWtFKSKkQFҫn thiӃWÿӇ khӱ sai sӕ [iFOұp MһFGP{SKӓQJÿiSӭQJYzQJNtQFKR thҩ\NK{QJFyVDLVӕ [iFOұp, bӝ ÿLӅu khiӇn vүn cҫQNKkXWtFKSKkQYuWURQJWKӵc tӃ, vӟi ÿLӋQiSQKӓ (khoҧQJÿLӋQiSWӕLÿDOӵF[RD\GRGzQJÿiӋn tҥRUDNK{QJWKҳng ÿѭӧFPDViWQrQÿӝQJFѫNK{QJ[RD\ÿѭӧFFyQJKƭD Oj OX{QWӗn tҥi sai sӕ [iFOұp KD Oj hӋ sӕ NKkXYLSKkQJL~SJLҧPÿӝ vӑt lӕ xuӕng tӟi mӭc cҫn thiӃW&iFKӋ sӕ ÿѭӧc lӵa chӑQWKHRSKѭѫQJSKiSWKӱ sai

3.4.3 0{SKӓQJÿiSӭng cӫDÿӝQJFѫYӟi bӝ ÿLӅu khiӇQÿѭӧc thiӃt kӃ

DӵDYjRKjPWUX\ӅQYzQJNtQFӫDÿӝQJFѫ6HUYRÿmWuPÿѭӧFWKuEӝ WK{QJVӕ 3,'ÿѭӧF[pWWKHR7RRO7XQLQJ3,'Fӫa Matlab Vӟi bӝ WK{QJVӕ Kp=0,27; Ki=0,06;

Kd=0,03 ÿѭӧFP{SKӓng trong HuQK WURQJWUѭӡng hӧp FKѭDFyWҧi WKu[iFÿӏnh ÿѭӧc ÿӝ vӑt lӕ 0 %, thӡLJLDQ[iFOұp ts = 0.193s, sai sӕ [iFOұp exl = 0 Nhұn thҩy bӝ WK{QJVӕ Qj\SKKӧp vӟL\rXFҫXÿѭӧFÿӅ ra

HuQK.41: 0{SKӓQJÿiSӭng cӫDÿӝQJFѫYӟi hӋ sӕ bӝ ÿLӅu khiӇn

0{SKӓng chuyӇQÿӝQJÿҥi diӋn cӫa khӟSYDLWURQJP{LWUѭӡng Simmechanics,

+uQK thӇ hiӋQP{KuQKURERWWUrQSKҫn mӅm Matlab

HuQK0{KuQKURERWWURQJP{LWUѭӡng Simmechanics

HuQKKӃt quҧ P{SKӓQJEiPTXӻ ÿҥo hҵng sӕ

HuQKKӃt quҧ P{SKӓQJEiPTXӻ ÿҥROjKjPWX\ӃQWtQK

HuQKKӃt quҧ P{SKӓQJEiPTXӻ ÿҥRKuQKVLQ

HuQKKӃt quҧ P{SKӓQJEiPTXӻ ÿҥROjKjPGӕc tuҫQKRjQ d 1 d 2

+uQK3.47: K{QJJLDQOjP viӋc cӫa tay robot 3.4.4 Giao tiӃp giӳDQJѭӡLYjURERW

Sau khi hojQFKӍQKFiFSKҫn thiӃt kӃP{KuQKJLDRWLӃp truyӅn dӳ liӋu tӯ QJѭӡi tӟi URERWÿѭӧF[iFÿӏQKQKѭ+uQK8 7ѭѫQJWӵ QKѭWURQJSKҫn 3.1.2b

HuQK48: 0{KuQKgiao tiӃp truyӅn dӳ liӋu tәng thӇ

&KѭѫQJ7Kӵc NghiӋPYj.Ӄt Quҧ

4.1 Thӵc nghiӋm 4.1.1 Thӵc nghiӋm kiӇm tra sai sӕ Kinect

ViӋc kiӇm tra sai sӕ cӫD.LQHFWÿѭӧc thӵc hiӋQWK{QJTXDWKtQJKLӋm sau:

- ĈRJLiWUӏ JyFFiQKWD\ӭng vӟi khoҧQJFiFK[DJҫQNKiFQKDX - ĈRJLiWUӏ JyFFiQKWD\NKLFyWKD\ÿәi khӟp vai

&{QJFө hӛ trӧ: ThiӃt bӏ ÿRJyFEҵQJSRWHQWLRPHWHUÿѭӧc lҳSOrQWD\QJѭӡLÿѭӧc ÿRJLiWUӏ JyFFҫQÿRVӁ ÿѭӧFÿRFQJO~FWӯ LQHFWYjpotentiometer (+uQK)

+uQK: ThiӃt bӏ kiӇm tra gҳQOrQFiQKWD\

MөFWLrX;iFÿӏnh sai sӕ kӃt quҧ ÿRJyFFӫa Kinect ӭng vӟi khoҧQJFiFK[DJҫn

KhoҧQJFiFKJLӳDFiFÿLӇm bҳWÿѭӧc tӯ FQJmӝWQJѭӡLOjNKiFQKDXQӃu khoҧQJFiFK tӟL.LQHFWOjNKiFQKDX'RÿyNӃt quҧ Qj\FǊQJWѭѫQJWӵ QKѭYLӋFÿRWUrQQKӳQJQJѭӡi FyNtFKWKѭӟFFѫWKӇ NKiFQKDX

3KѭѫQJSKiSWKӵc hiӋQ*LiWUӏ ÿRJyFWӯ SRWHQWLRQPHWHUÿѭӧc hiӇn thӏ trrn phҫn mӅm (1 st $QJOHWѭѫQJӭng vӟLJyFFӫa ID14, 2 nd $QJOHWѭѫQJӭng vӟi ID13, 4 th Angle WѭѫQJӭng vӟL,'*LiWUӏ ÿRWӯ Kinect hiӇn thӏ ÿӗng thӡLWUrQJLDRGLӋn Body Basics

TiӃQKjQKÿRJyFFiQKWD\ st Angle) ӣ 3 khoҧQJFiFK[DJҫQNKiFQKDXVRYӟi Kinect

ThiӃt bӏ kiӇPWUDÿѭӧc gҳn trӵc tiӃSOrQWD\QJѭӡi ÿRQrQJLiWUӏ trҧ vӅ tӯ potentiometer KRjQWRjQNK{QJSKө thuӝFYjRNKRҧQJFiFKÿR1rQYLӋc sӱ dөQJSRWHQWLRPHWHUÿӇ kiӇPWUD.LQHFWWURQJWUѭӡng hӧSQj\OjKӧSOê

+uQKÿӃn +uQKthӇ hiӋQJLiWUӏ ÿRÿѭӧc tӯ 2 cҧm biӃQWUrQWURQJWUѭӡng hӧp khoҧQJFiFKPPP*LiWUӏ ÿRKLӇn thӏ WѭѫQJӭQJWUrQSKҫn mӅm trong khung

1 st $QJOHYj6KRXOGHU,'7URQJWUѭӡng hӧSFiQKWD\ÿѭӧc giӳ ӣ FQJPӝt vӏ WUt minh chӭng bӣLJLiWUӏ JyFTXD\ÿREӣi potentiometeUOjYD7URQJNKLÿyFy sӵ VDLNKiFEӣLJLiWUӏ ÿRÿѭӧc tӯ Kinect

Tӯ WKtQJKLӋPWUrQWDU~WUDVDLVӕ cӫa Kinect ӭng vӟi WUѭӡng hӧp Qj\Oj1%

7KtQJKLӋm 2: ;iFÿӏnh sai sӕ kӃt quҧ ÿRJyFFӫD.LQHFWNKLFyVӵ WKD\ÿәi cӫa mӝt khӟSWUѭӟFQy

MөFWLrX;iFÿӏnh sai sӕ kӃt quҧ ÿRJyFFӫa Kinect ӭng vӟi viӋFWKD\ÿәi cӫa mӝt khӟp liӅQWUѭӟFQy9ӏ WUtYDL± cә OjQѫLWұp trung nhiӅu khӟSYjRFQJÿLӇm (khӟp loҥi 3), WKrPQӳDOjNKRҧQJFiFKYDLOjQJҳn, khӟp vai ± cә gҫQQKDXYjWK{QJ WKѭӡng khi chuyӇQÿӝng khӟSYDLWKuNKӟp cә FǊQJGӏch chuyӇn Vұ\ÿk\OjYӏ WUtPj SKpSÿRGӉ sai nhҩWGRÿyWiFJLҧ chӑn vӏ WUtQj\ÿӇ tiӃQKjQK

3KѭѫQJSKiSWKӵc hiӋn: kӃt quҧ ÿR ÿѭӧFÿӕi chiӃu tӯ 2 cҧm biӃn giӕQJQKѭWURQJ WKtQJKLӋP*yFWLӃQKjQKÿRWѭѫQJӭQJOjJyF nd $QJOHYj6KRXOGHU,'

+uQK6: 7KtQJKLӋm NK{QJQKҩc vai

+uQK4.5 Yj+uQK thӇ hiӋQSKpSÿRJyFNKӟS,'WѭѫQJӭQJWURQJKDLWUѭӡng hӧSFyQKҩFYDLOrQ+uQKYjNK{QJQKҩFYDLOrQ+uQK) Tӯ kӃt quҧ WUrQU~W ra sai sӕ cӫD.LQHFWQj\Oj2% (ӣ khoҧQJFiFKP

6DXNKLKRjQFKӍQKP{KuQKWKӵc cӫDURERWQKѭ+uQK, bӝ ÿLӅu khiӇQFKRÿӝng FѫÿmÿѭӧFÿӏQKKѭӟQJQKѭWUrQSKҫn thiӃt kӃ sӁ iSGөQJWUrQPӛLÿӝQJFѫYӟLWK{QJVӕ 3,Yj'SKKӧp vӟL\rXFҫXÿһt ra Song song vӟi viӋF[iFÿӏnh bӝ hӋ sӕ theo Bҧng

4.1 OjWKLӃt lұSPmWѭѫQJӭng cho mӛi ID trong +uQK

*yLGӳ liӋXÿӇ thiӃt lұp bӝ PID bao gӗPE\WHPmYjE\WHGӳ liӋXQKѭVDX

7URQJÿyGDWDOjFiFJLiWUӏ ÿѭӧc thӕQJNrWURQJBҧng 4.1 WѭѫQJӭng vӟi tӯng ID

Bҧng 4.1: 0mYjEӝ hӋ sӕ PID cӫa mӛLÿӝQJFѫ

0{KuQKÿLӅu khiӇn truyӅn dӳ liӋu tәng thӇ cӫa luұQYăQÿѭӧc thӇ hiӋn qua

+uQK8 Ӣ ÿk\.LQHFWVӁ nhұn diӋQQJѭӡLÿӇ lҩ\FiFJLiWUӏ JyFWѭѫQJӭng vӟLJyF

FKRSKpSFӫa mӛL,'7URQJÿyJyFNKҧ dөQJYjJyFFKRSKpSFӫa mӛL,'WURQJJLi trӏ phҥm vi tӯ ÿӃQÿѭӧF[iFÿӏnh trong Bҧng 4.2

Bҧng 4.2: *LiWUӏ JyFÿLӅu khiӇn cӫa robot

.KLPi\WtQKQKұQÿѭӧc dӳ liӋu thu thұp tӯ QJѭӡi sӁ truyӅQTXDURERWWK{QJTXD Pi\WtQK*yLGӳ liӋXJyFÿѭӧc gӱLFKRURERWWѭѫQJWӵ QKѭEӝ PID gӗPE\WHPmYj byte dӳ liӋXWURQJÿyE\WHPmYjbyte dӳ liӋXWURQJJLiWUӏ phҥm vi 0 ± WѭѫQJӭng

GiӳDJyLGӳ liӋX3,'YjJyLGӳ liӋXJyFNK{QJ[ҧ\UDÿӗng thӡLQJKƭDOjEӝ PID ÿmÿѭӧc thiӃt lұSWUrQWӯQJÿӝQJFѫWUѭӟc khi kӃt nӕi tҩt cҧ FiFÿӝQJFѫOҥi vӟi nhau

+uQK: 0{SKӓng Bӝ PID cӫDÿӝQJFѫ,'

Do mӛLÿӝQJFѫFyVDLVӕ kӻ thuұWULrQJYjFKӏu tҧi tҥi mӛLÿӝQJFѫOjNKiFQKDX QrQFiFEӝ WK{QJVӕ 3,'ÿmÿѭӧc thiӃt lұSQKѭWUrQNKiFQKDX;pWWUѭӡng hӧp cө thӇ QKѭ+uQK thҩy rҵng, thӡLJLDQÿiSӭQJÿҥW\rXFҫXOjVFyQKLӅXGDRÿӝQJWUrQ P{ShӓQJQKѭQJWKӵc tӃ NK{QJQKLӅXGRGDRÿӝng lӟQWKuPҳWQJѭӡLFyWKӇ QKuQU}FzQ GDRÿӝng nhӓ WKuNKyTXDQViWWKҩy

Khi sӱ dөng bӝ WK{QJVӕ 3,'QKѭWKLӃt kӃ WKuÿӝQJFѫNK{QJTXD\ÿѭӧFQrQSKҧi WăQJKӋ sӕ P, dүQÿӃQFyKLӋQWѭӧng vӑt lӕ YjQKLӅXGDRÿӝng Thӵc tӃ nhұn thҩy 3FjQJ lӟQWKuVDLVӕ ÿҥt bҵng 0 YjQKLӅXGDRÿӝQJQrQÿmNK{QJVӱ dөQJFiFKӋ sӕ 3ÿѭӧc sӱ dөQJFyVDLVӕ tӯ ÿӃQÿӝ QKѭQJGDRÿӝQJNK{QJFyKRһc rҩWtWFKӍ KD\GDRÿӝng nhӓ

Mӝt sӕ KuQKҧnh khi truyӅn dӳ liӋu trӵc tiӃp tӯ Pi\WtQK tӟi robot vӟLPmYjYӏ WUt WѭѫQJӭng

+uQK : Mӝt sӕ ҧnh thӵc nghiӋm truyӅn dӳ liӋu tӯ Pi\WtQKÿӃn robot

Video thӵc nghiӋm nhӳQJKuQKҧnh WUrQhttps://youtu.be/mU42-jqJsVQ a) b) c) d)

+uQKĈӑFJLiWUӏ JyFWӯ $UGXLQRFKRÿӝQJFѫ,'

.KLÿӝQJFѫ,'ÿDQJӣ vӏ WUtQKѭ+uQKD Yj ÿLӅu khiӇn tӟi vӏ WUtPӟi Oj WKuJLiWUӏ JyFÿҥWÿѭӧFOjQKѭ+uQKE7ѭѫQJWӵ WUrQÿLӅu khiӇn tiӃp ÿӃn vӏ WUtPӟLOjQKѭ+uQKF WKuJLiWUӏ JyFÿҥWÿѭӧFOjQKѭ+uQKG

1JKƭDOjVDLVӕ so vӟi bӝ PID vүQUѫLYjR

+uQK: Giao diӋQÿLӅu khiӇn robot tӯ Kinect

7KHRQKѭ+uQK, thӵc nghiӋPÿLӅu khiӇn robot theo Kinect v2 ÿѭӧc thӵc hiӋQWUrQÿӝQJFѫ,'WKHRQKѭYGLHRErQGѭӟL7URQJTXiWUuQKQj\FzQQKLӅu nhiӉu xҧ\UDQrQÿiSӭng cӫDÿӝQJFѫFKѭDÿѭӧc tӕLѭXNKӟp theo cӱ chӍ QJѭӡi

9LGHRÿLӅu khiӇn tӯ Kinect: https://youtu.be/uwL6nMlQayI

7URQJÿyFiFJLiWUӏ JyFhiӇn thӏ WUrQJLDRGLӋn ÿѭӧFP{Wҧ mӝt phҫn theo +uQh

4.12&iFJyFPӣ trong +uQK thuӝc vӅ phҫQErQSKҧi cӫDFѫWKӇ QJѭӡLFǊQJQKѭ

URERWYjFǊQJWѭѫQJӭQJJyFPӣ cho phҫQErQWUiL

+uQK: &iFJyFPӣ WѭѫQJӭng vӟi giao diӋQÿLӅu khiӇn

+uQK: *LiWUӏ JyF.LQHFWFӫa Shoulder ID13

+uQK: *LiWUӏ JyF.LQHFWFӫa Shoulder ID14

;pWWURQJWUѭӡng hӧp FiFJLiWUӏ JyFmӝt phҫQErQSKҧi QKѭ+uQK, JLiWUӏ JyFcӫa Shoulder ID13 hoҥWÿӝng trong phҥm vi tӯ WăQJGҫQOrQYjWӯ -WăQJ dҫQOrQ-WKHRQKѭ+uQK*Litrӏ JyFFӫa Shoulder ID14 tӯ 80 giҧm xuӕQJYj WăQJGҫQOrQ QKѭ+uQK*LiWUӏ JyFFӫa Elbow ID15 tӯ 0 giҧm dҫQÿӃn -QKѭ

+uQK*LiWUӏ JyFFӫa Hip ID5 tӯ WăQJGҫQOrQQKѭ+uQK*LiWUӏ JyF cӫa Hip ID6 tӯ WăQJGҫQOrQQKѭ+uQh 4.17*LiWUӏ JyFFӫa Knee ID7 tӯ WăQJ dҫQOrQQKѭ+uQK

+uQK 4.16: *LiWUӏ JyF.LQHFWFӫa Elbow ID15

+uQK: *LiWUӏ JyF.LQHFWFӫa Hip ID5

+uQK: *LiWUӏ JyF.LQHFWFӫa Hip ID6

+uQK: *LiWUӏ JyF.LQHFWFӫa Knee ID7

DӵDWUrQP{SKӓQJYjNӃt quҧ thӵc nghiӋm thҩy rҵng thӡLJLDQÿiSӭQJÿҥt vӏ WUtPRQJPXӕQQKѭP{SKӓQJQKѭQJVDLVӕ UѫLYjR ÿӃn 5,5% WѭѫQJÿѭѫQJWӯ 2-20 ÿӝ1JX\rQQKkQFKtQKOjGRWK{QJVӕ bӝ ÿLӅu khiӇQ3,'FKѭDSKҧLOjWӕt nhҩt QKѭQJ vүQÿiSӭQJÿҥW\rXFҫXÿӅ UDEDQÿҫXOjWҥo nhӳQJJyFFKX\ӇQÿӝng cho robot giҧLWUt dҥQJQJѭӡL%rQFҥQKÿyFzQFyQKӳQJQJX\rQQKkQNKiFKTXDQQKѭNtFKWKѭӟc cӫa robot hay cҩu tҥRErQWURQJFӫa tӯQJÿӝQJFѫ

KӃt quҧ thӵc nghiӋPFǊQJ[iFÿӏQKWtQK khҧ dөng cӫa viӋc thiӃt kӃ ÿӝQJFѫ6HUYR QKѭPӝWÿѫQYӏ cҩXWKjQKQrQFiFORҥLURERWQKѭURERWFiURERWUҳQYjQKLӅu loҥi robot giҧLWUtNKiF'ӵDWUrQÿyQӃu loҥLÿӝQJFѫ6HUYRQj\FyNKҧ QăQJJLDRWLӃSNK{QJGk\ sӁ JL~SWKXұn lӧi cho kӃt cҩu cӫa nhӳng URERWGQJQKLӅX6HUYRQj\WURQJFQJPӝt robot

KӃt cҩXFѫ NKt cӫa robot theo luұQYăQQj\NKiSKӭc tҥp YuÿzLKӓi nhiӅu thӡi JLDQÿӇ chӃ tҥo VӟLP{KuQKQj\QKӳng phҫn vӓ ÿѭӧc in nhӵDFzQQKӳng phҫn chӏu lӵFWiFGөng phҧLJLDF{QJNLP loҥL4XDÿyVRViQKYӟi nhӳng loҥLURERWWѭѫQJWӵ ÿm ÿѭӧFWKjQKSKҭPWKuF{QJQJKӋ SKXQpSQKӵa tәng hӧSYjSKXQpSNLPORҥLOjѭXWKӃ KѫQKҷn ĈӇ KRjQWKLӋQURERWKѫQWKuFǊQJFҫn thiӃt kӃ lҥi phҫQÿLӋQÿLӅXQj\JL~SPӣ ra nhiӅXKѭӟQJSKiWWULӇn cho roERWQKѭOjYӯa thӵc hiӋn quӻ ÿҥREѭӟFÿL theo quӻ ÿҥo off ± line hay theo quӻ ÿҥo on ± OLQHÿӗng thӡLFyWKӇ vӯa bҳWFKѭӟc theo cӱ chӍ cӫDQJѭӡi PjYүn giӳ ÿѭӧFWKăQJEҵng

[1] Sato, R et al (2013, August) Design and implementation of common platform for small humanoid robots In Mechatronics and Automation (ICMA), 2013 IEEE

International Conference on (pp 855-860) IEEE

[2] Pedro Daniel Dinis Teodoro (2007), Development of a simulation environment of an entertainment humanoid robot, PhD thesis, Universidad 7pFQLFDGH/LVERD