Ma robotiki ambiri omwe alipo kale amakoka kudzoza kuchokera ku chilengedwe, kutulutsa mwachilengedwe njira zachilengedwe, zachilengedwe kapena machitidwe azinyama kuti akwaniritse zolinga zenizeni. Izi zili choncho chifukwa nyama ndi zomera zimakhala ndi luso lomwe limawathandiza kukhala ndi moyo m'madera omwe akukhala, ndipo izi zingathandizenso kuti maloboti agwire ntchito kunja kwa ma labotale.
"Mikono yofewa ya loboti ndi m'badwo watsopano wa opanga ma roboti omwe amalimbikitsidwa ndi luso lapamwamba lopusitsa lomwe limawonetsedwa ndi zamoyo zopanda mafupa, monga ma octopus tentacles, mitengo ya njovu, mbewu, ndi zina zambiri," Enrico Donato, m'modzi mwa ofufuza omwe adachita izi. phunzirolo, adauza Tech Xplore. "Kumasulira mfundozi kukhala njira zauinjiniya kumabweretsa machitidwe omwe amapangidwa ndi zida zopepuka zosinthika zomwe zimatha kupindika bwino kuti zitheke kuyenda motsatira komanso mwaluso. Chifukwa cha makhalidwe abwinowa, machitidwewa amagwirizana ndi malo ndipo amasonyeza mphamvu ndi chitetezo cha anthu pamtengo wotsika mtengo. "
Ngakhale zida zofewa za loboti zitha kugwiritsidwa ntchito pamavuto osiyanasiyana adziko lapansi, zitha kukhala zothandiza kwambiri pakudzipangira ntchito zomwe zimaphatikizapo kufikira malo omwe akufunidwa omwe ma robot olimba sangathe kufikako. Magulu ambiri ofufuza posachedwapa akhala akuyesera kupanga olamulira omwe angalole manja osinthasinthawa kuti agwire bwino ntchitozi.
"Nthawi zambiri, kugwira ntchito kwa olamulira oterowo kumadalira ma computational formulations omwe amatha kupanga mapu ovomerezeka pakati pa malo awiri ogwirira ntchito a robot, mwachitsanzo, malo ogwirira ntchito ndi actuator-space," Donato anafotokoza. "Komabe, kugwira ntchito moyenera kwa oyang'anirawa nthawi zambiri kumadalira masomphenya omwe amalepheretsa kutsimikizika kwawo m'malo a labotale, kuletsa kutumizidwa kwa machitidwewa m'malo achilengedwe komanso amphamvu. Nkhaniyi ndi kuyesa koyamba kuthana ndi vuto lomwe silinathetsedwe ndikukulitsa kufikira kwa machitidwewa kumadera osakhazikika. ”
"Mosiyana ndi malingaliro olakwika omwe anthu ambiri amaganiza kuti zomera sizisuntha, zomera zimasuntha mwakhama komanso mwadala kuchokera kumalo ena kupita kumalo ena pogwiritsa ntchito njira zoyendetsera kayendetsedwe ka kukula," adatero Donato. “Njira zimenezi n’zothandiza kwambiri moti zomera zimatha kulamulira pafupifupi malo onse padziko lapansi, zomwe zilibe mphamvu kwa nyama. Chochititsa chidwi n’chakuti, mosiyana ndi zinyama, njira zoyendetsera zomera sizichokera m’kati mwa minyewa, koma m’malo mwake, zimayamba chifukwa cha njira zamakono za makompyuta.”
Njira yoyendetsera ntchito ya ochita kafukufuku amayesa kutengera njira zotsogola zotsogola zomwe zimathandizira kusuntha kwa zomera. Gululi lidagwiritsa ntchito zida zanzeru zopangira machitidwe, zomwe zimakhala ndi ma computing agents omwe amaphatikizidwa m'munsi.
"Zachilendo za olamulira athu otsogozedwa ndi bio zagona mu kuphweka kwake, komwe timagwiritsa ntchito makina ofunikira a mkono wa loboti yofewa kuti tikwaniritse zonse," adatero Donato. "Mwachindunji, mkono wofewa wa loboti umapangidwanso ndi ma module ofewa, aliwonse omwe amayendetsedwa kudzera mu utatu wa ma actuators okonzedwa bwino. Ndizodziwika bwino kuti pamasinthidwe otere, makina amatha kupanga mayendedwe asanu ndi limodzi opindika. "
Ma computing agents omwe amayang'anira magwiridwe antchito a gululo amagwiritsa ntchito matalikidwe ndikuyika nthawi ya actuator kuti apangitsenso mitundu iwiri yamitundu yosiyanasiyana ya zomera, yotchedwa circumnutation ndi phototropism. Mazungulire ndi ma oscillation omwe nthawi zambiri amawonedwa muzomera, pomwe phototropism ndi kayendedwe kolowera komwe kumabweretsa nthambi za chomera kapena masamba kuyandikira kuwala.
Woyang'anira wopangidwa ndi Donato ndi anzake amatha kusinthana pakati pa machitidwe awiriwa, kukwaniritsa kuwongolera motsatizana kwa mikono ya robotic kudutsa magawo awiri. Yoyamba mwa magawowa ndi gawo lofufuza, pomwe mikono imafufuza malo ozungulira, pomwe yachiwiri ndi gawo lofikira, pomwe amasuntha kuti akafike pamalo omwe akufuna kapena chinthu.
"Mwina chinthu chofunikira kwambiri chochotsa pa ntchitoyi ndikuti aka ndi nthawi yoyamba kuti zida zofewa za robotiki zitheke kukwanitsa mphamvu kunja kwa malo a labotale, ndi njira yosavuta yowongolera," adatero Donato. "Kuphatikiza apo, chowongoleracho chimagwira ntchito pazofewa zilizonselobotimkono wapanga dongosolo lochitira zofananira. Ichi ndi sitepe yopita ku kugwiritsa ntchito njira zodziwikiratu komanso kugawa zowongolera mumaloboti opitilira komanso ofewa. ”
Pakalipano, ochita kafukufuku adayesa wolamulira wawo pamayesero angapo, pogwiritsa ntchito chingwe choyendetsa chingwe, chopepuka komanso chofewa cha robotic chokhala ndi 9 madigiri a ufulu (9-DoF). Zotsatira zawo zinali zolimbikitsa kwambiri, popeza wolamulirayo adalola kuti mkonowo ufufuze malo ozungulira ndikufika pamalo omwe akuwunikira bwino kuposa njira zina zowongolera zomwe zidaperekedwa m'mbuyomu.
M'tsogolomu, wolamulira watsopanoyo angagwiritsidwe ntchito ku zida zina zofewa za robotic ndikuyesedwa mu labotale ndi zochitika zenizeni, kuti apitirize kuwunika momwe angathetsere kusintha kwa chilengedwe. Pakadali pano, Donato ndi anzake akukonzekera kupititsa patsogolo njira yawo yolamulira, kuti athe kupanga mayendedwe owonjezera a mkono wa robotic ndi machitidwe.
"Pakadali pano tikuyang'ana kukulitsa luso la wolamulira kuti athe kuchita zinthu zovuta kwambiri monga kutsatira chandamale, kupindika kwa mkono wonse, ndi zina zotero, kuti machitidwe oterowo azigwira ntchito zachilengedwe kwa nthawi yayitali," adatero Donato.
Nthawi yotumiza: Jun-06-2023