İnsansı robot kolu tasarımı, benzetimi, kinestetik öğrenme, empedans kontrolü ve öneriler

Abstract

Humanoid robot arm design, dynamic and kinematic analyses  2 stages kinesthetic learning algorithm, impedance control and simulation  Suggestions for improvements Figure A. Mechanical design, kinematic and dynamic analysis, electronic design, simulation and control stages for a humanoid robot armPurpose: The purpose of this research is to develop a humanoid robot arm capable of kinesthetic learning and performing tasks which requires contact with environment. Theory and Methods:A humanoid robot arm design and control require maticulus work. Selection of kinematic structure and drivetrain are explained and also verified with dynamic analyses. The inverse kinematic solution is provided. Electronic and software design are realized by keeping the desired control methods in perspective. Simulations are carried out for two-stages kinesthetic learning and position / force / impedance control methods. Results:Although kept relatively simple, the mechanical design has been achived and verified with kinematic and dynamic analyses. The kinesthetic learning is very suitable to teach complicated jobs such as writing on a moving surface. In this project, kinesthetic learning is made possible in two-stages since a single force/torque sensor is available at the end of the robot arm. Harmonic drives' back-drivability becomes an issue during kinesthetic learning. Conclusion:Mechanical design, kinematic and dynamic analyses, kinesthetic learning, impedance control, electronic and software studies were carried out within the scope of the project. The stages from the initial mechanical design of the humanoid robot arm to the control, encountered problems, experiences and suggestions for advanced designs are shared in a comprehensive way in order to be useful for national robot projects in this article.