استفاده از الگوریتم بهینه‌سازی زنبورعسل، کلاغ و الگوریتم ژنتیک در شناسایی و بهینه‌سازی پارامترهای دینامیکی ربات لامسه‌ای و دست کاربر

نوع مقاله : مقاله پژوهشی

نویسندگان

1 استادیار، گروه مهندسی مکانیک، دانشگاه صنعتی سیرجان، سیرجان، ایران

2 کارشناس ارشد، گروه مهندسی مکانیک، دانشگاه صنعتی سیرجان، سیرجان، ایران

چکیده

ربات‌های لامسه‌ای جهت شبیه‌سازی اجسام مجازی برای کاربر آن مورد استفاده قرار می‌گیرند. دینامیک ربات لامسه‌ای و دست کاربر، تأثیر به‌سزایی در پایداری و عملکرد ربات لامسه‌ای دارند. در این پژوهش شناسایی دینامیک دست کاربر و ربات لامسه‌ای با استفاده از روش‌های بهینه‌سازی کلونی زنبورعسل مصنوعی، الگوریتم بهینه‌سازی کلاغ و الگوریتم ژنتیک، طی آزمایش‌هایی در دو حالت انجام‌ شده است. در حالت اول صرفاً دینامیک ربات لامسه‌ای شناسایی‌شده، سپس در حالت دوم روش‌های مذکور برای شناسایی هم‌زمان دینامیک دست کاربر و ربات لامسه‌ای تعمیم داده ‌شده‌اند. برای این منظور ابتدا در هر حالت مرز پایداری تئوری به‌صورت تابعی از پارامترهای دینامیکی موجود به‌دست ‌آمده است؛ سپس با انجام آزمایش‌هایی برای روی ربات کوکا سبک ‌وزن 4 در دو حالت حضور و عدم حضور دست کاربر، مرز پایداری تجربی به‌دست‌آمده است. در ادامه با استفاده از روش بهینه‌سازی کلونی زنبورعسل مصنوعی، کلاغ و همچنین الگوریتم ژنتیک، در هر حالت پارامترهای دینامیکی مورد نظر به‌گونه‌ای به‌دست‌آمده‌اند که اختلاف بین مرز پایداری به‌دست‌آمده تئوری و تجربی حداقل شود. بررسی‌ها نشان می‌دهند درحالی‌که هر سه روش به‌خوبی توانسته‌اند شناسایی پارامترها را انجام دهند، روش الگوریتم ژنتیک در این زمینه خطای کمتری را ایجاد کرده و عملکرد بهتری دارد.

کلیدواژه‌ها

عنوان مقاله [English]

Using the artificial bee colony optimization, crow, and genetic algorithm for identifying and optimizing the dynamic parameters of a haptic device and operator’s hand

نویسندگان [English]

  • Ahmad Mashayekhi 1
  • Emad Imanian 2
  • Vahid Modanloo 1
  • Behnam Akhoundi 1
1 Department of Mechanical Engineering, Sirjan University of Technology, Sirjan, Iran
2 Department of Mechanical Engineering, Sirjan University of Technology, Sirjan, Iran
چکیده [English]

Haptic Devices (HDs) are used to simulate virtual objects for the user. The dynamics of the HD and the opertator’s hand have a great effect on the stability and performance of the HD. In this research, the dynamic identification of the user's hand and HD has been done using methods of Artificial Bee Colony Optimization (ABCO), Crow Search Algorithm (CSA), and Genetic Algorithm (GA), during experiments in two cases. In the first case, only the dynamics of the HD has been identified, then in the second case, the mentioned methods have been generalized for the simultaneous recognition of the dynamics of the user's hand and the HD. For this purpose, first, in each case, the theoretical stability boundary is obtained as a function of the available dynamic parameters. Then, by performing experiments on the KUKA Light Weight 4 robot in two cases of presence and absence of the operator’s hand, the experimental stability boundary has been obtained. Afterwards, by using ABCO, CSA, and GA in each case the desired dynamic parameters are obtained in such a way that the difference between the theoretical and experimental stability boundary is minimized. Studies show that while all three methods have been able to identify the parameters well, the GA method produces less error and has a better performance in this field.

کلیدواژه‌ها [English]

  • Artificial bee colony optimization
  • Crow search algorithm
  • Genetic Algorithm
  • Haptic device
  • Stability
  • Dynamic parameter identification

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