粮仓清理机器人机械臂避障空间的路径规划研究

发布时间：2018-06-30 03:29

本文选题：蒙特卡罗 + 路径规划　；参考：《河南工业大学》2017年硕士论文

【摘要】：立筒仓长期储粮过程中会出现粮食的挂壁和结拱问题,由于人工清理对人体的健康具有极大危害,因此迫切需要引入粮仓清理机器人。在筒仓中,由于测温传感器等设备的存在,增加了机器人清理工作的难度。为了避免机器人在工作中与设备之间的干涉,机械臂(也称作操作臂)的路径规划问题成为了重要的研究问题。路径规划对于筒仓清理机器人来说是运动控制一个重要环节。路径规划需要解决的问题包括:针对移动机器人所处的环境信息建立环境模型,再基于某种算法寻找一条从起始状态到达目标状态的无碰撞优化路径,并利用已知的所有信息来引导机器人的动作。本论文针对立筒仓清理机器人操作臂的特点,构建避障空间模型,利用相应规划算法来解决清理避障中的路径规划问题。本课题首先介绍了粮仓清理机器人机构和运动原理,在MATLAB Robotics Toolbox中对操作臂进行了运动学建模。其次,通过基于点云的蒙特卡罗方法建立工作空间和障碍物的空间模型,并利用基于射线和交叉点的计算机图形学方法与几何相交理论,描绘工作空间和障碍物之间的几何关系,从而构建出二维与三维的避障工作空间。再次,利用改进的Dijkstra算法在二维避障空间内对三自由度的平面操作臂进行了最短路径的规划。在此基础上将二维平面机器人避障规划扩展到三维避障空间内,并针对RRT算法存在的缺陷,提出了窗口RRT算法,有效的克服了扩展树过于平均和路径质量差的问题。最后,对规划路径进行了仿真,并给予了详细的分析。论文从工程实际出发,提出了避障空间的概念与建模方法,采用MATLAB构建仿真平台,能够快速有效的解决障碍物对操作臂工作空间的影响,便于操作臂进行路径规划。通过在避障空间内的路径仿真结果分析,操作臂可以在保证良好姿态的情况下从起点运动到终点,证实了路径规划算法的有效性。本文的研究成果将为多自由度操作臂机器人在复杂约束下的避障路径规划提供新的解决方法。
[Abstract]:The problem of hanging wall and forming arch of grain will occur in the process of standing silo grain storage for a long time. Because manual cleaning is very harmful to human health, it is urgent to introduce granary cleaning robot. In silos, because of the existence of temperature sensors and other equipment, it is more difficult to clean up the robot. In order to avoid the interference between the robot and the equipment, the path planning of the manipulator (also known as the manipulator) has become an important research problem. Path planning is an important part of motion control for silo cleaning robot. The problems to be solved in path planning include: establishing an environment model for the environment information of the mobile robot, and then finding a collision free optimal path from the initial state to the target state based on some algorithm. And using all known information to guide the robot's action. In this paper, according to the characteristics of vertical silo cleaning robot manipulator, the obstacle avoidance space model is constructed, and the path planning problem in clearing obstacle avoidance is solved by using the corresponding planning algorithm. Firstly, the mechanism and motion principle of the granary cleaning robot are introduced, and the kinematics modeling of the manipulator is carried out in the MATLAB Robotics Toolbox. Secondly, the space model of workspace and obstacle is established by Monte Carlo method based on point cloud, and the theory of intersecting geometry with computer graphics method based on ray and intersection is used. The geometric relationship between workspace and obstacle is described, and the two dimensional and three dimensional obstacle avoidance workspace is constructed. Thirdly, the improved Dijkstra algorithm is used to plan the shortest path of the planar manipulators with three degrees of freedom in the two-dimensional obstacle avoidance space. On this basis, the obstacle avoidance planning of two-dimensional planar robot is extended to three-dimensional obstacle avoidance space. Aiming at the defects of RRT algorithm, a window RRT algorithm is proposed, which effectively overcomes the problems of over-average extension tree and poor path quality. Finally, the path planning is simulated and analyzed in detail. Based on the engineering practice, the concept and modeling method of obstacle avoidance space are put forward in this paper. MATLAB is used to build a simulation platform, which can solve the impact of obstacles on the workspace of the manipulator quickly and effectively, and facilitate the path planning of the manipulator. By analyzing the path simulation results in obstacle avoidance space, the manipulator can move from start to end with good attitude, which proves the effectiveness of the path planning algorithm. The research results in this paper will provide a new solution for obstacle avoidance path planning of multi-degree-of-freedom manipulators under complex constraints.
【学位授予单位】：河南工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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