Bohušík Martin, Stenchlák Vladimír, Císar Miroslav, Bulej Vladimír, Kuric Ivan, Dodok Tomáš, Bencel Andrej
Department of Automation and Production Systems, Faculty of Mechanical Engineering, University of Zilina, 010 26 Zilina, Slovakia.
Sensors (Basel). 2023 Jun 25;23(13):5872. doi: 10.3390/s23135872.
Nowadays, artificial intelligence is used everywhere in the world and is becoming a key factor for innovation and progress in many areas of human life. From medicine to industry to consumer electronics, its influence is ever-expanding and permeates all aspects of our modern society. This article presents the use of artificial intelligence (prediction) for the control of three motors used for effector control in a spherical parallel kinematic structure of a designed device. The kinematic model used was the "Agile eye" which can achieve high dynamics and has three degrees of freedom. A prototype of this device was designed and built, on which experiments were carried out in the framework of motor control. As the prototype was created through the means of the available equipment (3D printing and lathe), the clearances of the kinematic mechanism were made and then calibrated through prediction. The paper also presents a method for motor control calibration. On the one hand, using AI is an efficient way to achieve higher precision in positioning the optical axis of the effector. On the other hand, such calibration would be rendered unnecessary if the clearances and inaccuracies in the mechanism could be eliminated mechanically. The device was designed with imperfections such as clearances in mind so the effectiveness of the calibration could be tested and evaluated. The resulting control of the achieved movements of the axis of the device (effector) took place when obtaining the exact location of the tracked point. There are several methods for controlling the motors of mechatronic devices (e.g., Matlab-Simscape). This paper presents an experiment performed to verify the possibility of controlling the kinematic mechanism through neural networks and eliminating inaccuracies caused by imprecisely produced mechanical parts.
如今，人工智能在世界各地得到广泛应用，并正成为人类生活许多领域创新与进步的关键因素。从医学到工业再到消费电子，其影响力不断扩大，渗透到我们现代社会的方方面面。本文介绍了在一种设计装置的球形并联运动结构中，利用人工智能（预测）对用于执行器控制的三个电机进行控制。所使用的运动学模型是“敏捷眼”，它能够实现高动态性能且具有三个自由度。设计并制造了该装置的一个原型，并在电机控制框架内进行了实验。由于原型是通过现有设备（3D打印和车床）制造的，所以对运动机构的间隙进行了处理，然后通过预测进行校准。本文还提出了一种电机控制校准方法。一方面，使用人工智能是在执行器光轴定位方面实现更高精度的有效方法。另一方面，如果能够通过机械方式消除机构中的间隙和不精确性，那么这种校准就没有必要了。该装置在设计时就考虑到了诸如间隙等缺陷，以便能够测试和评估校准的有效性。在获得跟踪点的精确位置时，实现了对装置（执行器）轴运动的最终控制。有几种控制机电一体化设备电机的方法（例如，Matlab - Simscape）。本文展示了一个实验，以验证通过神经网络控制运动机构以及消除由机械零件制造不精确所导致的不准确性的可能性。
