具有虚拟力反馈的冗余机械手双向伺服控制研究

发布时间：2018-03-22 10:53

本文选题：遥操纵　切入点：冗余　出处：《吉林大学》2017年硕士论文　论文类型：学位论文

【摘要】：冗余机械手适合在非结构化环境中工作,其在遥操纵系统中得到了广泛的应用,特别是在作业环境复杂的远程医疗系统、太空遥操纵系统和深海遥操纵系统等。因此研究遥操纵冗余机械手系统具有重大意义。本文结合2014年度高等学校博士点科学专项科研基金“遥操纵电液欠驱动冗余自由度机械手系统双向伺服控制策略”(20130061110009),研究冗余机器人避障和存在时延时力反馈控制性能提高的方法。本文首先用DH坐标法求解冗余从机械手正运动学方程,针对机械手末端轨迹存在障碍物的情况,应用基于主从任务转化闭环控制避障方法,实现冗余从机械手逆运动学方程的推导和末端轨迹存在障碍物时的有效避障,提高末端轨迹跟踪精度,应用拉格朗日法推导动力学方程;其次针对电液位置伺服系统的非线性和不确定性,设计应用灰色预测控制的遗传算法在线自适应参数整定PD控制器,改善系统的动态性能、抗干扰能力和跟踪精度;最后针对存在时延时因操作者感受到滞后的反馈力而容易引起错误操作的问题,通过在主端控制器中加入从端距离信息引入虚拟反馈力模型,改进基于位置约束空间法的位差反馈型双向伺服力反馈控制策略,使操作者不仅能提前感受到反馈力,还能感受到反馈力的大小和方向,提高遥操纵系统的操作性能和透明性,通过仿真验证所提方法是有效的。
[Abstract]:Redundant manipulators are suitable for working in unstructured environments, and have been widely used in telecontrol systems, especially in telemedicine systems with complex operating environments. Space telecontrol system and deep-sea telecontrol system, etc. Therefore, it is of great significance to study the telecontrol redundant manipulator system. This paper combines with the 2014 doctoral Science Research Foundation of Colleges and Universities, "telecontrol electro-hydraulic underactuation redundancy". The bi-directional servo control strategy of redundant manipulator system "20130061110009", this paper studies the method of avoiding obstacles and improving the performance of time-delay force feedback control in redundant robot. In this paper, DH coordinate method is used to solve the forward kinematics equation of redundant slave manipulator. In view of the existence of obstacles at the end of manipulator, the inverse kinematics equation of redundant slave manipulator and the effective obstacle avoidance when there are obstacles in the terminal trajectory are derived by using the closed-loop control method based on master-slave task transformation. In order to improve the precision of terminal trajectory tracking, the Lagrangian method is used to deduce the dynamic equation. Secondly, aiming at the nonlinearity and uncertainty of electro-hydraulic position servo system, an on-line adaptive parameter tuning PD controller based on genetic algorithm based on grey predictive control is designed. Improve the dynamic performance, anti-jamming ability and tracking accuracy of the system. Finally, the delay is easy to cause the error operation because the operator feels the feedback force of lag. By introducing the virtual feedback force model into the main terminal controller, the position difference feedback feedback control strategy based on the position constraint space method is improved, so that the operator can not only feel the feedback force in advance. The size and direction of the feedback force can also be felt, and the operation performance and transparency of the remote control system can be improved. The simulation results show that the proposed method is effective.
【学位授予单位】：吉林大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP241

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