磁吸附轮式机器人的运动控制

发布时间：2018-05-01 16:20

本文选题：磁吸附轮式机器人 + 二维运动控制　；参考：《深圳大学》2017年硕士论文

【摘要】：钢管作为工业中的基础设备,在工业建设中大量使用,但由于这些钢管的安装环境往往较为苛刻,钢管焊缝被腐蚀较强,同时在钢管的焊接过程中也会出现缺陷,因此定期检查这些钢管焊缝成为保障运输安全的重要环节。若人工操作钢管焊缝检测设备,往往会由于检测工程量大且繁琐而存在不准确性,且有时人为无法检测,而装有钢管焊缝检测探头的机器人能够轻松进入各种严苛环境中对管道焊缝进行检测,这具有省时,省力,准确性高等优点。因此研究装有钢管焊缝检测探头的机器人在钢管上的运动控制对解决现实中繁多且重要的钢管焊缝检测工作具有重大的实际意义。本文依据“由一般到特殊”的研究方法,先研究磁吸附轮式机器人在一般二维平面上的运动控制,然后以此为基础研究其在三维钢管圆柱面上的运动控制。首先,本文对该磁吸附轮式机器人的运动机构进行介绍,然后根据工业应用对机器人运动控制的要求,对磁吸附轮式机器人提出相应的工作环境约束、运动控制目标、研究内容和研究方法。然后,研究磁吸附轮式机器人在一般二维平面上的运动控制。先根据工作约束对该运动控制提出了学术假设,在假设的基础上首先讨论视觉传感器在二维平面上的数学反馈模型,之后分别讨论了机器人在二维平面上两种运动方式的运动学模型,并根据稳定性判据分别设计了相应的控制策略。然后分别结合机器人两个运动控制系统中的视觉传感器二维反馈模型、运动学模型和控制策略,利用Matlab软件进行仿真实验,实验结果均达到了期望实验目标。在有限的对比条件下,选取了仿真结果较好的一种运动方式作为机器人在三维钢管圆柱面上的运动方式。最后,研究磁吸附轮式机器人在三维钢管圆柱面上的运动控制。首先借助机器人上某一点的三维空间坐标和欧拉角对机器人的三维空间位姿进行了描述,根据工作约束对该运动控制提出了学术假设,之后在假设的基础上讨论视觉传感器在三维空间中的数学反馈模型,推导单磁轮在钢管圆柱面的运动学模型,并以此结合磁吸附轮式机器人在二维平面上的运动分析,对磁吸附轮式机器人在三维钢管圆柱面上的运动进行建模,并设计了相应的控制策略。然后对单磁轮在钢管圆柱面上的三维运动学模型和磁吸附轮式机器人在钢管圆柱面上的三维运动学模型进行仿真实验,验证了模型的有效性。最后结合磁吸附轮式机器人在钢管圆柱面上的三维运动控制系统中的视觉传感器三维反馈模型、机器人三维运动学模型和控制策略进行仿真实验,实验结果达到了期望实验目标。
[Abstract]:As the basic equipment in industry, steel pipe is widely used in industrial construction. However, because of the harsh installation environment of these pipes, the weld of steel pipe is corroded strongly, at the same time, there will be defects in the welding process of steel pipe. Therefore, regular inspection of these steel pipe welds has become an important link to ensure transportation safety. If manual operation of steel pipe weld inspection equipment, often because of the large amount of inspection and cumbersome, there is inaccuracy, and sometimes artificial can not be detected, The robot equipped with steel pipe weld detection probe can easily enter all kinds of harsh environment to detect pipe weld, which has the advantages of time saving, labor saving, high accuracy and so on. Therefore, it is of great practical significance to study the robot motion control on the steel pipe with a probe for detecting the weld seam of steel pipe, which is of great practical significance to solve the problem of numerous and important steel pipe weld detection in reality. Based on the method of "from general to special", this paper first studies the motion control of magnetically adsorbed wheeled robot on the general two-dimensional plane, and then studies its motion control on the three-dimensional cylindrical surface of steel pipe. First of all, this paper introduces the motion mechanism of the magnetic adsorption wheel robot, then according to the requirements of industrial application to the robot motion control, the corresponding working environment constraints and motion control objectives are proposed for the magnetic adsorption wheel robot. Research contents and methods. Then, the motion control of magnetic adsorption wheeled robot in general two-dimensional plane is studied. First of all, according to the work constraints, the academic hypothesis of the motion control is proposed. On the basis of the hypothesis, the mathematical feedback model of the vision sensor on the two-dimensional plane is discussed. Then, the kinematics models of two kinds of motion modes in two-dimensional plane are discussed, and the corresponding control strategies are designed according to the stability criterion. Then the two dimensional feedback model kinematics model and control strategy of the vision sensor in the two motion control systems of the robot are combined respectively and the simulation experiments are carried out by using Matlab software. The experimental results reach the desired experimental goal. Under the condition of finite contrast, a better motion mode is selected as the motion mode of the robot on the three-dimensional cylindrical steel pipe surface. Finally, the motion control of the magnetic adsorption wheel robot on the three-dimensional cylindrical surface of steel pipe is studied. Firstly, the three-dimensional position and pose of the robot are described with the help of the three-dimensional coordinates and Euler angles of a certain point on the robot, and the academic hypothesis of the motion control is put forward according to the working constraints. Then the mathematical feedback model of the vision sensor in three-dimensional space is discussed, and the kinematics model of the single magnetic wheel on the cylindrical surface of the steel tube is deduced, and the motion analysis of the magnetic adsorption wheeled robot on the two-dimensional plane is combined with this model. The motion of the magnetic adsorption wheel robot on the cylindrical surface of three dimensional steel pipe is modeled and the corresponding control strategy is designed. Then the three dimensional kinematics model of the single magnetic wheel on the cylindrical surface of steel tube and the 3D kinematic model of the magnetic adsorption wheel robot on the cylindrical surface of the steel tube are simulated and the validity of the model is verified. Finally, the 3D feedback model of the vision sensor, the 3D kinematics model and the control strategy of the robot in the three-dimensional motion control system of the magnetic adsorption wheel robot on the cylindrical surface of steel pipe are simulated. The experimental results reach the desired experimental goal.
【学位授予单位】：深圳大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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