摘要
一位新闻记者-机器人与机器学习的工作人员新闻编辑每日新闻-关于机器人的研究发现被用在一份新的报告中。根据News Rx记者在加拿大多伦多的新闻报道，研究表明：“近年来，在开发专门的3D打印技术以满足各种管理应用方面取得了重大进展。然而，当涉及到复杂的现场打印场景时，这种技术的现状是挑战D，这需要一个可控的打印平台。”加拿大自然科学与工程研究委员会(NSERC)为本研究提供了资金支持记者从约克大学的研究中得到一句话:“缺乏稳定的打印平台是其原位应用的一个根本限制。为了解决这个问题,我们提出了一种新的平台独立三维制作工艺,该工艺能够在非合作运动的平台上打印。该工艺克服了高速跟踪、运动补偿和运动补偿等挑战。”本文提出了一种基于MA的视觉检测与跟踪控制器的设计方案,该方案由高速内控制环和外测量环组成,实现了对印刷平台的精确、准确跟踪,实现了对印刷平台的精确、准确跟踪。对印刷过程中的任何干扰进行补偿。实验结果表明,即使在低干扰平台速度下,简单线性几何图形的印刷也是成功的。此外,验证了跟踪控制器处理测量遮挡的能力,表明了该方法的鲁棒性和有效性。
Abstract
By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News-Research findings on Robotics are disc ussed in a new report. According to news reporting from Toronto, Canada, by News Rx journalists, research stated, "In recent years, there has been significant pr ogress in developing specialized 3D printing techniques that cater to various de manding applications. However, the current state of this technology is challenge d when it comes to complex in situ printing scenarios, which require a controlle d printing platform." Financial support for this research came from Natural Sciences and Engineering R esearch Council of Canada (NSERC). The news correspondents obtained a quote from the research from York University, "The lack of a stable printing platform is a fundamental limitation of its use in in situ applications. To address this issue, we present a novel platform-inde pendent 3D fabrication process that enables printing on platforms with non-coope rative movement. The process overcomes the challenge of high-speed tracking, mot ion compensation, and real-time printing by developing a closed-loop visual feed back-controlled robotic printing process. The proposed process incorporates a ma rker-based visual detection and tracking controller setup, which is discussed in detail. The algorithm consists of two loops running asynchronously: a high-spee d inner control loop and an outer measurement loop. This setup enables precise a nd accurate tracking of the printing platform, compensating for any disturbances during the printing process. Our experimental results demonstrate the successfu l printing of simple linear geometries, even with low-disturbing platform veloci ties. Moreover, the tracking controllers' ability to handle measurement occlusio n is validated, showing the proposed process's robustness and effectiveness."
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