Análise e modelagem do erro de sensores e atuadores em um braço robótico controlado com Arduino

Abstract

The growing of robotics has aroused interest in the researchers to the development and improvement of robotic systems. Robotic arms have been used in many sectors, such as industrial, clinical and domestic. The aim of this work is to present a study about the error of an ultrasonic sensor and a servomotor used in the inverse kinematics of a robotic arm. Initially, an analysis of error concerning to such sensor and an actuator was made. Afterwards, these errors were corrected using a linear regression. A statistics analysis – using paired test t – demonstrated that the error after the correction was smaller than before such correction. Additionally, the test Z was applied in order to verify that the measurements were closer to the desired ones after the correction than before. The error represents initial tests and without any type of adjustments, however the correction represents the result after the application of linear regression on the initial tries. Besides, another goal of this work is to demonstrate the importance of tests in improvement phase of this equipment in order to have it perform in a more precise way the desired function; which would be the collecting of an object. To the improvements, a linear regression was used, the tests t and Z. The linear regression made the mechanism more stable and near to the desired results. Moreover, the tests t and Z prove that the correction and error values diverge and that the results didn’t happen by chance. The obtained results demonstrated significant improvements both in the use of the ultrasonic sensor and in the inverse kinematics application