五自由度全方位移动机器人的运动控制研究

发布时间：2018-01-05 05:29

本文关键词：五自由度全方位移动机器人的运动控制研究　出处：《沈阳航空航天大学》2016年硕士论文　论文类型：学位论文

【摘要】：本文针对具有全方位特性的平面移动机器人,研究了其全方位特性的获得方法,全方位底盘结构差异性对运动的影响。并根据分析结果设计五自由度全方位移动机器人(5DOF-OMR),研究了其运动特点和控制方法,并通过仿真与实地实验对控制方法加以验证与演示。首先对全方位特性进行概述,说明全方位特性的获得方法。针对平面移动机器人,总结出全方位特性载体的两种获得方法,即增加自由度法和保留转化自由度法。并根据该理论总结出MY系列全方位轮的设计依据并验证运动转化的实现,得出串联轮运动转化的不完全性,并开发出并联双球冠差动式全方位轮以解决该问题。其次,对全方位机器人的运动特性进行研究。针对不同底盘结构分别建立并比较运动学模型的优缺点,通过仿真得出并联模型轨迹跟踪误差较小,具有结构上的优越性。进而选取并联模型,对其速度各向异性以及速度同向异性加以分析,分析反映出机器人平移时速度分布特点以及机器人自转并匀速直线前进时受到速度自转压缩现象。为进一步阐明速度自转压缩现象,选择对圆轨迹跟踪进行规划,并推导出对应不同半径圆轨迹时的对应规划方案。建立了升降平台的运动学模型,为今后进一步规划复杂轨迹打下基础。之后介绍了五自由度全方位移动机器人的控制系统,包括控制系统整体构架以及控制系统各个子模块的具体构成,并基于该控制系统,对轨迹跟踪控制方法进行了研究,提出了双曲线正切函数PD轨迹跟踪控制器,并通过仿真实验验证了控制器在减小初始加速度上具有镇定压缩作用,可以有效避免因加速度过大导致的打滑现象,并通过实地实验进行演示,对外部环境以及内部本身因素的综合影响加以分析,提出了改进措施。最后,进行了巡线装配模拟实验。
[Abstract]:In this paper, the method of obtaining omnidirectional characteristics of planar mobile robot with omnidirectional characteristics is studied. According to the analysis results, a five-degree-of-freedom omnidirectional mobile robot is designed, and its motion characteristics and control methods are studied. The control method is verified and demonstrated by simulation and field experiments. Firstly, the omnidirectional characteristic is summarized, and the method of obtaining the omnidirectional characteristic is explained, aiming at the planar mobile robot. Two methods of obtaining omnidirectional characteristic carrier are summarized, that is, increasing degree of freedom method and retaining transforming degree of freedom method. According to this theory, the design basis of my series omnidirectional wheel is summarized and the realization of motion transformation is verified. The incompleteness of the series wheel motion transformation is obtained, and the parallel double ball crown differential omni-directional wheel is developed to solve the problem. The kinematic characteristics of omni-directional robot are studied. According to the advantages and disadvantages of kinematics models established and compared with different chassis structures, the simulation results show that the trajectory tracking error of parallel model is small. The parallel model is selected to analyze the velocity anisotropy and velocity homotropy. The analysis reflects the characteristics of velocity distribution when the robot is moving in translation and the phenomenon that the robot is subjected to speed rotation compression when it rotates and advances in a straight line with uniform speed. In order to further clarify the phenomenon of velocity rotation compression. The program of circle trajectory tracking is selected, and the corresponding planning scheme for different radius circle trajectory is deduced, and the kinematics model of lifting platform is established. After that, the control system of five degrees of freedom omnidirectional mobile robot is introduced, including the whole structure of the control system and the specific composition of each sub-module of the control system. Based on the control system, the trajectory tracking control method is studied, and a hyperbolic tangent PD trajectory tracking controller is proposed. The simulation results show that the controller can stabilize and compress the initial acceleration, which can effectively avoid the slip caused by excessive acceleration, and demonstrate it through field experiments. The comprehensive effects of external environment and internal factors are analyzed, and the improvement measures are put forward. Finally, the assembly simulation experiment is carried out.
【学位授予单位】：沈阳航空航天大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TP242

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