放射性容器退役拆解中机械臂轨迹规划与跟踪研究

发布时间：2018-01-18 08:50

本文关键词：放射性容器退役拆解中机械臂轨迹规划与跟踪研究　出处：《西南科技大学》2017年硕士论文　论文类型：学位论文

【摘要】：核退役拆解任务中机械臂的应用受到越来越多的关注。在工作强度大、环境复杂、辐射危害大、拆解工艺复杂等特点下,机械臂任务空间的轨迹规划问题对放射性容器退役拆解任务中机械臂高效、稳定、精确平滑地运行有重要意义。本课题以放射性容器热切割退役拆解任务为研究背景,以MOTOMAN-MH6S型六自由度串联机械臂为研究对象,在机械臂任务空间采样获得描述切割任务关键位姿点,通过研究适用于MH6S类型机械臂的姿态规划算法和位置规划算法,规划出满足切割任务工艺要求的机械臂运行轨迹,并且确保获取机械臂运动平滑、平稳,位姿准确的轨迹时间函数θ_e(t);通过旋量理论建立任务空间和关节空间的映射关系,将任务空间中的轨迹时间函数θ_e(t)以能量最优条件映射至关节空间,进一步研究给定参考轨迹输入的机械臂轨迹跟踪控制方法。整个方案对提高机械臂运行的稳定性、系统的可靠性、工作效率有重要意义。本文重点研究MH6S型六自由度机械臂任务空间中轨迹的位置规划、姿态规划方法、以及从任务空间到关节空间映射关系,再者,以关节空间中的轨迹时间函数θ_e(t)为机械臂给定参考输入,进行轨迹跟踪控制算法验证,最后在MH6S机械臂平台上构建典型实验进行验证。本论文中,在任务空间中通过三次非均匀B样条插值算法对具有连续路径点约束条件的轨迹进行位置规划;利用单位四元数三次多项式样条插值算法实现对多姿态约束条件轨迹的位姿规划,从而实现机械臂在任务空间中连续路径点约束条件的位姿规划;利用旋量的方法求解任务空间中机械臂的姿态和关节空间中机械臂位姿的映射关系;利用五次样条插值算法对关节空间中的连续位姿进行规划。轨迹规划是机械臂轨迹跟踪的基础,将规划好的轨迹时间律作为控制系统的参考输入,在采用拉格朗日公式建立的动力学模型上,利用重力补偿的PD控制算法实现机械臂系统对参考轨迹跟踪验证。本文在MATLAB/Visual Studio软件上对任务空间中连续路径点约束条件的机械臂给定任务描述进行轨迹规划,并结合旋量方法将任务空间中规划的轨迹时间函数映射到关节空间,在关节空间中利用五次样条插值实现对轨迹平滑连续的规划。实验结果表明,本文提出的规划方法对任务空间中连续路径点约束条件的轨迹规划切实可行,为机械臂离线编程奠定基础。
[Abstract]:More and more attention has been paid to the application of robot arm in the nuclear decommissioning task. Under the characteristics of high working intensity, complex environment, large radiation hazard and complex dismantling process, etc. The trajectory planning problem of robot arm mission space is highly efficient and stable for the decommissioning mission of radioactive container. It is of great significance to run accurately and smoothly. In this paper, the research background is the decommissioning task of radioactive vessel thermal cutting, and the research object is MOTOMAN-MH6S six-degree-of-freedom series manipulator. The key position and attitude points describing the cutting task are obtained by sampling in the manipulator mission space. The attitude planning algorithm and the position planning algorithm suitable for the MH6S type manipulator are studied. The trajectory of the manipulator is designed to meet the requirements of the cutting task, and the trajectory time function 胃 E / T of smooth, steady and accurate position and pose is obtained. The mapping relationship between the task space and the joint space is established by spinor theory, and the locus time function 胃\\\. Further study the trajectory tracking control method for the given reference trajectory input. The whole scheme can improve the stability of the manipulator operation and the reliability of the system. This paper focuses on the position planning, attitude planning method and mapping relationship from mission space to joint space in the task space of MH6S six-degree-of-freedom manipulator. The locus time function 胃 _ S _ T in the joint space is used as the reference input of the manipulator, and the trajectory tracking control algorithm is verified. Finally, a typical experiment is constructed on the platform of MH6S manipulator for verification. In the task space, the trajectory with continuous path point constraints is planned by cubic nonuniform B-spline interpolation algorithm. The cubic polynomial spline interpolation algorithm of unit quaternion is used to realize the pose planning of multi-attitude constraint locus, so as to realize the position and pose planning of the continuous path point constraint condition of the manipulator in the mission space. The mapping relationship between the attitude of the manipulator in the mission space and the position and attitude of the manipulator in the joint space is solved by the spinor method. The quintic spline interpolation algorithm is used to plan the continuous position and pose in the joint space. The trajectory planning is the basis of the trajectory tracking of the manipulator. The planned trajectory time law is used as the reference input of the control system. In the dynamic model established by Lagrange formula. The PD control algorithm of gravity compensation is used to verify the reference trajectory tracking of manipulator system. This paper is based on MATLAB/Visual. The trajectory planning for the given task description of the manipulator with the constraint of continuous path points in the task space is carried out by Studio software. The trajectory time function of the task space is mapped to the joint space by spinor method, and the smooth and continuous planning of the trajectory is realized by using the quintic spline interpolation in the joint space. The programming method presented in this paper is feasible for trajectory planning of continuous path point constraints in mission space and lays a foundation for off-line programming of manipulator.
【学位授予单位】：西南科技大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP241

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