履带式变形机器人运动控制平台的设计

发布时间：2018-04-16 07:25

本文选题：矿井救援 + 履带式机器人　；参考：《西安科技大学》2017年硕士论文

【摘要】：随着工业自动化的发展,矿井救援工作越来越受到大家的关注,可以适应环境恶劣、复杂工作的履带式变形机器人得到了广泛应用。履带式机器人支撑面积大、稳定性强;还能够爬坡、跨越障碍,具有很强的穿梭能力;因此有必要对其进行系统性的设计和研究。本设计研究提高履带式移动机器人在复杂环境中的越障稳定性以及行驶、转向的精确性控制能力,论文主要包括以下内容:首先,选择STM32F103ZET6作为主控核心,对履带式机器人运动控制平台进行总体设计,介绍了履带式移动机器人的基本结构,针对履带式机器人差动式机械结构的特点,对其进行运动学分析,建立了运动数学模型。其次,采用模块化的设计思想对控制平台的硬件和软件进行总体分析和设计,硬件包括主控器、电源模块、电机驱动模块、编码器测速模块、通信模块、以及信息采集模块等;相应的软件设计都是在Keil环境下进行的,并使用Visual Basic 6.0软件编写了上位机显示界面,实现了检测参数显示、曲线显示和通信功能。然后,对车体运动姿态的检测及控制算法进行了研究,先通过车体身上安装的姿态传感器对机器人姿态进行检测,把检测到的多个传感器的数据通过多传感器融合算法融合得到可信度更高的姿态信息值,再把姿态信息反馈给控制器,再与设定的姿态目标信息进行比较,通过PI控制方法调节电机速度,使机器人车体以指定的目标指令运动,通过仿真验证了算法的正确性。最后,对机器人进行了整体调试,并把算法应用到机器人平台,进行了直线行走、转弯运动和爬楼梯实验,记录了实验测试数据,结果表明使用算法后的实验结果误差很小,满足系统设计要求,验证了本设计的可行性和算法的准确性。
[Abstract]:With the development of industrial automation, more and more attention has been paid to mine rescue work. Crawler deformable robots, which can adapt to the harsh environment, have been widely used.Crawler robot has large supporting area and strong stability. It also can climb slope and cross obstacles, and has strong shuttle ability. So it is necessary to design and study it systematically.This design is designed to improve the stability of crawler mobile robot in complex environment and the accuracy control ability of driving and steering. The main contents of this paper are as follows: firstly, STM32F103ZET6 is chosen as the main control core.The general design of crawler robot motion control platform is carried out, and the basic structure of tracked mobile robot is introduced. According to the characteristics of crawler robot differential mechanical structure, the kinematics analysis is carried out and the kinematics mathematical model is established.Secondly, the hardware and software of the control platform are analyzed and designed with modular design idea. The hardware includes main controller, power supply module, motor driving module, encoder speed measurement module, communication module, and information acquisition module.The corresponding software design is carried out under the environment of Keil, and the upper computer display interface is written by using Visual Basic 6.0 software, which realizes the functions of parameter display, curve display and communication.Then, the motion attitude detection and control algorithm of the car body is studied. Firstly, the robot attitude detection is carried out through the attitude sensor installed on the body of the car body.The detected data of multiple sensors are fused by multi-sensor fusion algorithm to obtain a more reliable attitude information value, and then the attitude information is fed back to the controller, and then compared with the set attitude target information.The speed of the motor is adjusted by Pi control method, and the robot body moves with the specified target instruction. The correctness of the algorithm is verified by simulation.Finally, the whole debugging of the robot is carried out, and the algorithm is applied to the robot platform. The experiments of straight line walking, turning motion and climbing stairs are carried out, and the experimental data are recorded. The results show that the error of the experimental results after using the algorithm is very small.Meet the system design requirements, verify the feasibility of the design and the accuracy of the algorithm.
【学位授予单位】：西安科技大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TD774

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