Multi-DoF platforms, nk’ibikoresho vy’ingenzi mu mashini n’ivy’ubuhinga bwa none, birafise uruhara runini mu bikorwa bitandukanye, harimwo no kwigana ivy’indege, gukora ibikoresho vy’inganda, no gusubiza mu buryo ubuvuzi, bivuye ku bushobozi bwavyo bwo guhinduranya inyigisho. Ariko rero, ubwoko butandukanye bw’ibibanza vyinshi-DoF buratandukanye cane mu bijanye n’ingero z’inyigisho, uburyo bwo gutwara, n’ukugenzura neza. Ivyo bitandukanye ni vyo bigena ata guca ku ruhande ingene bikoreshwa be n’ingene bikora. Iki kiganiro kizokwihweza cane itandukaniro ry’ingenzi hagati y’ubwoko butandukanye bw’ibibanza vyinshi-DoF bivuye mu nzira nyinshi.
Ubutandukane bw'ingenzi mu kwinyiganza ingero z'umwidegemvyo
Itandukaniro ry'ishimikiro hagati y'ibibanza vyinshi-DoF riri mu mubare w'ibibanza vy'inyigisho vyigenga bishobora gushikako. Igikoresho gisanzwe ca gatatu-DoF gitanga inyigisho y’uguhindura ku nzira zitatu z’umurongo za X, Y, na Z. Iyi ntunganyo ikoreshwa cane mu gukoresha ibikoresho vyoroshe canke mu gushiramwo ibintu vy’ishimikiro. Iyo iyo sisitemu yongeyeko ubushobozi bwo guhinduranya nk’imirongo itatu (isanzwe yitwa pitch, yaw, na roll), ihinduka urubuga rwa DoF rutandatu-, ubu ni rwo rukoreshwa cane mu vy’ubuhinga kandi rukoreshwa cane.
Ni vyiza cane ko ama platforms amwe amwe yateguwe mu buryo budasanzwe ashobora gutanga ingero zine canke zitanu z’umwidegemvyo (DOF). Nk’akarorero, amaroboti amwamwe yo mu nganda afatanya gusa ubushobozi bwo guhindura no guhinduranya mu buryo bumwebumwe. Ivyo bihuza DOF bitagira -imirongo ngenderwako akenshi biratunganirizwa neza ku bikorwa vyihariye, bitanga ubuhinga bwinshi mu gihe bitera imbere mu bijanye n'ibikorwa vyihariye. Nk’akarorero, amabarabara amwamwe yo kwigana ikiyaga yoshobora gushimika ku nzira y’uguhagarara no ku nzira y’uguhagarara, mu gihe yorosha ibindi bipimo.
Inzira zitandukanye zo guhingura imiterere y'ivyuma
Naho boshika ku mubare umwe w’ama DOF, amashirahamwe atandukanye yoshobora gufata inyishu zitandukanye cane z’imiterere. Ivyuma bikoreshwa mu buryo bumwe (nk’ivyo bikoresho bizwi cane vyitwa Delta robot canke Stewart) bishika ku mpinduka ziri mu gice c’iherezo biciye mu nzira y’inkoni nyinshi zitwara. Izo nzira zitanga ubukomezi bwinshi n’ugusubiza, ariko ahantu zikorera ni hato cane. Ku rundi ruhande, amabarabara y’uruhererekane yubaka iminyororo y’ibintu bigendagenda mu guteranya amajosi mu rutonde. Naho ivyo bitanga ahantu hanini ho gukorera, barashikirwa n’amakosa yirundanira be n’ukudakomera guhagije.
Uburyo buvanze, bwavutse mu myaka ya vuba, buragerageza guhuza ivyiza vy’ubwo buryo bwompi, nk’ugukoresha uburyo bumwe nk’ubuhinga bwo guheza mu kuboko kw’ururobo rukurikirana. Iyi miterere y'ibintu vyinshi itera imbere mu gushiramwo ukuri kw'iherezo-mu gihe igumya ahantu hanini ho gukorera. Amahitamwo atandukanye y’ibikoresho na yo nyene atuma habaho itandukaniro ry’imiterere-imiterere y’insinga z’umuyagankuba ziremereye gukoreshwa mu bikorwa vy’umuvuduko munini-, mu gihe imiterere y’icuma itanga ubushobozi bwo kwikorera cane.
Amahitamwo atandukanye mu buhinga bwo gutwara no gutanga amakuru
Ubutandukane mu buryo bwo gutwara bugira ingaruka zitaziguye ku mikorere y'urubuga. Ivyuma vy’umuyagankuba, kubera ibiranga ubuhinga bwavyo bwo kugenzura neza, ni vyo bihitamwo ku bikorwa vy’ubuhinga buhanitse, cane cane iyo bifatanijwe n’ibigabanya ubuhinga, bishobora gushika ku rugero rwa micron-rw’ukuri. Ivyiyumviro vy’ugutwara amazi, bizwi kubera umuvuduko munini wavyo, birabereye mu bihe vy’umuzigo uremereye-, ariko kandi biratanga ingorane z’ugusohoka kw’amavuta kandi bisaba uburemere bwinshi bwo kubibungabunga. Ubuhinga bushasha bwo gukoresha imitsi y’umuyaga canke imitsi y’abantu buriko buragaragaza ubushobozi mu bijanye n’ubuhinga bwo guhindura ibintu.
Ku bijanye n’uburyo bwo gutanga amakuru, ivyuma bifata amajwi n’ivyuma bifata amajwi birabereye ku bijanye n’ugugenda mu murongo, mu gihe ivyuma bigabanya amajwi canke ivyuma bigabanya amajwi bikoreshwa cane ku bijanye n’ibihimba bizunguruka. Hariho ibintu bimwebimwe bikoreshwa mu buryo bwihariye bikoresha ubuhinga bwo gukurura intsinga canke ubuhinga bwo gutuma amakuru agenda neza kugira ngo umuntu ashobore gutanga amakuru ataco akora, ivyo bikaba naho bizimvye cane, ntibisaba ko umuntu abibungabunga cane. Ivyiza ni uko uguterimbere mu buhinga bw’imiduga itwara buhoro -biriko biragabanya ukwizigira uburyo bwa kera bwo gutanga amakuru, bikaba bituma imiterere y’ibibanza igenda neza kandi yizigirwa.
Uburyo bwo kugenzura ubukuru bugoranye
Ugusobanuka kw’ubuhinga bwo kugenzura kuragenda kwongerekana cane uko umubare w’ingero z’umwidegemvyo ugenda urushirizaho. Ivyuma bitatu-degree-vy-vy'umwidegemvyo mu bisanzwe bihuye n'ibisabwa n'ubugenzuzi bwa PID bworoshe, mu gihe uburyo butandatu-degree-bw'-bw'umwidegemvyo busaba ubuhinga bushitse bw'inguvu n'ingene ubugenzuzi buteye imbere, nk'ubugenzuzi bw'uburyo bwo guhindura canke ubugenzuzi bw'uburyo bwo guterera. Ibikoresho bifise ibisabwa vy'igihe nyaco-vyinshi cane bishobora gukoresha FPGAs canke ibice vy'ubuhinga bwo kugenzura inyigisho.
Ivyiyumviro vy'ibimenyetso navyo biratandukanye cane-ibibanza vy'ishimikiro bishobora kwizigira gusa ama encoders kugira ngo bimenye aho umuntu ari, mu gihe uburyo buteye imbere bushiramwo ibimenyetso vy'inguvu/umuvuduko, ibipimo vy'ingero z'ubuzima (IMUs), mbere n'ibisubizo vy'amaso kugira ngo bibe uburyo bwo kugenzura uburyo bwinshi -loop closed{2}}loop. Ugusobanuka kw’igikorwa co gupima na kwo nyene kurarushirizaho uko umubare w’ingero z’umwidegemvyo ugenda urushirizaho. Ivyiyumviro bitandatu-vy'umwidegemvyo bishobora gusaba ibikoresho vy'ugupima n'uburyo bugoranye bwo gukosora.
Ubutandukane bw'ibibereye mu mice isanzwe y'ikoreshwa
Ivyiyumviro bitandukanye-vy'umwidegemvyo -bikoresha ibikorwa bitandukanye kubera ibiranga bitandukanye. Ivyuma bitatu-degree-vy-vy'umwidegemvyo bikoreshwa cane mu mirongo yoroshe y'iteraniro ry'ivyuma canke mu kwerekana ibintu vy'ishimikiro, bitanga umuti mwiza cane-. Ivyuma bitandatu-degree-vy-vy’ukwinyiganza vy’umwidegemvyo ni ibihimba nyamukuru mu bikoresho vy’ugupima indege, mu bibanza vy’ubumenyi bw’ukuri, n’ibikoresho vyo gushiramwo ibintu vy’ukuri, bishobora gusubiramwo inyigisho zikomeye zo mu kirere.
Ivyuma vyihariye, nk’ameza abiri -degree-y’-y’umwidegemvyo, vyagenewe canecane kugerageza ibikoresho vyo mu kiyaga, mu gihe amaroboti ane -degree-y’-y’umwidegemvyo akora neza cane mu gutoranya vyihuta cane. Ivyuma vyo gusubiza mu buzima busanzwe mu vy’ubuvuzi akenshi bikoresha uburyo bworoshe bwo gutanga umwidegemvyo w’ingero zitatu -, bishira imbere umutekano n’ugutekanirwa kuruta gukora cane. Iyi porogaramu-ikoreshwa n'itandukaniro ry'imiterere ituma "ibereye" kenshi ikora kurusha "iteye imbere cane."
Ubuhinga bwo guhuza ibikorwa n'igiciro
Kwongera umubare w’ingero z’umwidegemvyo bituma ata kabuza habaho ukwiyongera kw’ibiciro kutagira umurongo. Imibare yerekana ko urubuga rw’umwidegemvyo rw’ingero zitandatu-mu bisanzwe rugura incuro zitatu canke zitanu kurusha urubuga rw’umwidegemvyo rw’ingero zitatu-rw’ivyo bimenyetso bimwe, hatarimwo uburyo bwo kugenzura buhambaye cane n’ibiciro vyo kubungabunga. Mu bikorwa vy’inganda, abahinga bakunda gukoresha isesengura ry’imigenderanire kugira ngo bamenye umubare mutoyi w’ingero z’umwidegemvyo zikenewe, baronke uburinganire bwiza hagati y’ukunyurwa n’igiciro-.
Gucungera ni ikintu nyamukuru co kwitwararika-ibice vyinshi bigendagenda bisigura ko hariho amahirwe menshi yo kunanirwa kandi uburyo bwo gucungera bugoye cane. Ibikoresho bimwebimwe bikomeye vyo mu bidukikije, nk’amamashini yo gucukura amabuye y’agaciro, birashobora kugabanya n’ibigirankana umubare w’ingero z’umwidegemvyo kugira ngo urutonde rube rwizigirwa. Iyi filozofiya y’imiterere y’ibintu itwibutsa ko uguhitamwo urubuga rw’umwidegemvyo w’ingero nyinshi-bitegerezwa gushingiye ku ntumbero y’ibisabwa vy’ugukoresha vyihariye.
Iterambere ry'akazoza n'uguhuza ikoranabuhanga
Ubu, multi-degree-y'-ibibanza vy'umwidegemvyo biriko biratera imbere mu bijanye n'ubwenge, uburemere buke, n'uguhinduranya. Intango y’ubuhinga bw’ubwenge bukoranye n’abantu ituma iyo nzira ishobora kwigenga mu gutuma inzira z’inyigisho zigenda neza, mu gihe gukoresha ibikoresho bishasha bibandanya gutuma habaho iterambere mu bushobozi bwo gutwara ibintu. Iciyumviro c’uguhingura ibintu bimwebimwe kiremesha ko urubuga rushobora kwagura mu buryo bubereye ingero z’umwidegemvyo warwo bishingiye ku bisabwa. Ubu buryo bwo "gutunganya ibintu ku bisabwa" bushobora guhindura ingingo mfatirwako z'inganda zo muri kazoza.
Biratanga umuhango ko gufatanya ubuhinga bw’amahasa y’ubuhinga bwa none n’ubuhinga bwinshi-degree-of-y’ibibanza vy’umwidegemvyo bizobafasha gukoresha neza ubuhinga bwa none no kugenzura kure. Kubera ko iciyumviro c’ivy’ubuhinga bwa none kigenda kiratera imbere, imipaka y’ugukoresha ubuhinga bwa ultra-high-degree zitandatu-degree -y’-y’umwidegemvyo mu bijanye n’ugukorana n’abantu mu buryo bw’ingurukanabumenyi irabandanya kwaguka. Ivyo bihe vy’uguhuza ubuhinga vyerekana ko ibibanza vyinshi-degree-vy-vy’umwidegemvyo bizokwerekana agaciro kavyo kadasanzwe mu bikorwa vyinshi.
