基于嵌入式机器人关键技术的研究与应用

发布时间：2018-03-24 15:36

本文选题：机器人　切入点：嵌入式系统　出处：《江南大学》2012年硕士论文

【摘要】：机器人在现代社会的生产生活的各个领域正发挥着越来越重要的作用,其涉及的工作种类也正逐步扩大。研究嵌入式机器人对于以低成本、数字化、柔性化等为基本要求的机器人系统显得尤为合适,但是目前仍然没有一套比较完善的嵌入式解决方案。本文以实际项目机器人为研究对象,通过仿真与实验验证相结合的方式,在嵌入式系统下对六自由度机器人的实时逆运动学、轨迹规划等关键技术进行了深入研究。提出了一套嵌入式系统下机器人的技术解决方案。本文分别从以下几个方面进行了论述: 首先,阐明了机器人研究的背景及意义,调研分析了国内外机器人的应用现状及机器人技术的研究现状,指出工业机器人的核心理论与技术问题,同时详细介绍了嵌入式系统的特点、分类及其在机器人领域的研究状况等。其次简要介绍了机器人正运动学的基本知识,建立起运动学方程,根据实际机器人求得D-H参数,并根据D-H参数在ADAMS与MATLAB下分别建立起仿真模型,便于以后的仿真分析;同时又进行了机器人的逆运动学分析,提出了使用牛顿-拉夫逊逆运动学算法用于机器人系统中的解决方案。再次对机器人轨迹规划进行了阐述。提出了在关节空间中进行轨迹规划的基本方法,并分别介绍了三次插值、抛物线插值及B样条插值三种插值方法。重点讨论了B样条插值法,并给出了相应的改进方法。同时也讨论了蚁群算法和粒子群算法两种智能算法对于避障轨迹规划的应用,也分别给出了改进方法。用ADAMS对轨迹规划进行了仿真,得出了各关节的规划后的曲线,方便与实际运行曲线进行对比分析。最后提出了本系统的总体结构,并分别逐一描述了处理器、Qt界面、以太网的控制方式等各个部分的功能及特点。说明了在现场调试中相关操作的操作步骤等。对前面讨论的方法进行实际验证,分析曲线,最终得出结论。
[Abstract]:Robots are playing a more and more important role in all fields of production and life in modern society, and the kinds of work involved in them are gradually expanding. The flexible robot system is particularly suitable, but there is still no perfect embedded solution. This paper takes the actual project robot as the research object, and combines the simulation and experiment. Real-Time inverse Kinematics of 6-DOF Robot in embedded system, Some key technologies, such as trajectory planning, are studied in depth. A set of technology solutions for robot in embedded system is proposed. The following aspects are discussed in this paper:. First of all, the background and significance of robot research are expounded, the application status of robot and the research status of robot technology at home and abroad are analyzed, and the core theory and technical problems of industrial robot are pointed out. At the same time, the characteristics, classification and research status of embedded system in robot field are introduced in detail. Secondly, the basic knowledge of robot forward kinematics is briefly introduced, and the kinematics equation is established. According to the actual robot, the D-H parameters are obtained. According to D-H parameters, the simulation models are established under ADAMS and MATLAB respectively, which is convenient for future simulation analysis. At the same time, the inverse kinematics analysis of the robot is carried out, and the solution of applying Newton-Raphson inverse kinematics algorithm to the robot system is proposed. The basic method of trajectory planning in joint space is put forward, and the cubic interpolation is introduced respectively. Three interpolation methods, parabola interpolation and B-spline interpolation, are discussed in detail, and the corresponding improved methods are given. At the same time, the application of ant colony algorithm and particle swarm optimization algorithm to obstacle avoidance trajectory planning is also discussed. ADAMS is used to simulate the trajectory planning, and the curve of each joint planning is obtained, which is convenient to compare and analyze with the actual running curve. Finally, the overall structure of the system is presented, and the QT interface of the processor is described one by one. The functions and characteristics of various parts such as the control mode of Ethernet are explained. The operation steps of related operations in the field debugging are explained. The methods discussed above are verified, the curves are analyzed, and the final conclusion is drawn.
【学位授予单位】：江南大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TP368.1;TP242

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