Abstract
Model uncertainties can be defined using the simulation model and real measurements, thereby the model accuracy is practically represented. The differences between the simulation and reality create both inaccuracy and uncertainty in control system development. Our previous researches presented these inaccuracies numerically and pointed out some structure imperfections of the Szabad(ka)-II hexapod robot. The performed sequential and parallel measurements on the Szabad(ka)-II robot highlighted notable uncertainties at (i) the left and right mechanical sides, (ii) in front and rear legs, (iii) current and voltage sensors and (iv) in case of repetitive walking scenarios. The presented analysis takes into account the 6-axis accelerometer measurements as well. The measurement errors and uncertainties should be estimated before the optimization of robot control or robot structure. It is also necessary to define the expected quality optimum and correctly interpret the simulation results and imperfections.
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Notes
- 1.
Rearing occurs when a horse “stands up” on its hind legs with the forelegs off the ground
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This work/publication is supported by the EFOP-3.6.1-16-2016-00003 project and is co-financed by the European Union.
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Kecskés, I., Odry, Á., Odry, P. (2022). Uncertainties in the Movement and Measurement of a Hexapod Robot. In: Awrejcewicz, J. (eds) Perspectives in Dynamical Systems I: Mechatronics and Life Sciences. DSTA 2019. Springer Proceedings in Mathematics & Statistics, vol 362. Springer, Cham. https://doi.org/10.1007/978-3-030-77306-9_12
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