Authors:
(1) Jorge Francisco Garcia-Samartin, Centro de automatic Yar Robotica (UPM-CSIC), University of Politecnica de Madrid-Consejo Superior DE Investigaciones Cientıficas, Jose Josier Abiasal 2, 28006 Madrid, Spain (Spain)[email protected]);
(2) Adrian Rieker, Centro De Automatica y Robotica (UPM-CSIC), Universidad Politecnica De Madrid-Consejo Superior de Investigaciones Cientıficas, Jose Guterres Abiasal 2, 28006 Madrid, Spain;
(3) Antonio Barrientos, Centro De Automatica Y Robotica (Upm-CSIC), Universidad Politecnica de Madrid-Consejo Superior de Investigaciones Cientıficas, Jose Guterres Abiasal 2, 28006 Madrid, Spain.
Links table
Abstract and 1 introduction
2 relevant business
2.1 Air operation
2.2 Aerobic weapons
2.3 Control of soft robots
3 Paul: Design and Manufacturing
3.1 Robot design
3.2 Choose materials
3.3 Manufacturing
3.4 operating bank
4 Gain data and control the open episode
4.1 Device Preparing
4.2 vision capture system
4.3 Data set generation: table -based models
4.4 Open ring control
5 results
5.1 final version of Paul
5.2 Analysis of the work area
5.3 Perform the models based on the table
5.4 Bending experiments
5.5 Weight experiences
6 conclusions
Finance information
A. Experiments and references
4 Gain data and control the open episode
4.1 Device Preparing
In order to provide the processor with a stable and stable installation system, which would also allow reliable and predictable data to the ends and directions of the end, the mineral structure shown in Figure 10. It is a cube made of steel profiles with metharilates on the walls. The air seat, power source and microController are placed above the structure.
The goal of the data access system is to be able to measure, whenever necessary, the position and the end of the robot in order to be able to link it to inflation times for each bladder and thus be able to create an open opening -the Paul Paul model. For this purpose, three elements are available: cameras, calibration and Triedron.
The USB AF926H Speedal AF926H Camera is used with 1920 x 1080 pixels, the vision field is 80 degrees and 60 frames per second to take pictures. It was placed on external traibood in the robot structure. It is calibrated using a 11 x 8 square scanning panel of 20 mm each, which can be seen in Figure 11A.
The vision beacon, on the other hand, has the task of recognizing it in space to determine the position and direct the mobile system in relation to the fixed system. Triedron, shown in Figure 11b, consists of three balls, manufactured by 3D printing in PLA, which has three LED dualities. Thanks to these, it is possible to change the shine of areas through the program, while maintaining the system works properly when the workplace, environmental conditions or lighting vary.
The presence of the central penis, which moves the luminous areas away from the base of the end of the robot, makes it possible that the areas are visible to cameras in all sides that the robot can adopt. If the fields are directly linked to
At the end of the robot, there will be many parties that will not be possible to determine the position, as the fields will be hidden by the robot itself.
4.2 vision capture system
Since the coordinates of the real world are independent of the camera, if the equation (1) is applied to both cameras and RK heading was wiped in the two equations, it can be said:
The equations system (2) can be resolved using the micro -square method:
Then I use Rodriguez’s rotation formula to get it, regarding the rule of the real world in the form of a rotating matrix:
I refer to the identity matrix 3.
