多自由度串联关节博弈机器人结构与控制系统设计

发布时间：2018-07-03 06:31

本文选题：关节型机器人 + 博弈机器人　；参考：《沈阳航空航天大学》2017年硕士论文

【摘要】：近年来随着高科技、智能化的自动化生产设备不断进步,人们对智能化的要求增高,机器人产品逐渐趋于生活化,促进了博弈机器人等智能机器人技术的研发。博弈机器人研发成本低、整体尺寸小、控制灵活度高,将作为一种高级的生活陪伴品和寓教于乐的教学工具进入人们的生活中,具有一定的市场需求和研究价值。本文将机器人技术和计算机博弈结合起来,设计了一款多自由度机械手臂,利用相关的控制程序完成抓子、弃子、吃子等动作,运用视觉技术完成棋盘信息的识别,根据博弈算法进行步法推演,从而实现人机对弈功能。全文在结构设计上参考了ABB460型机器人的经典结构设计方案,采用了双平行四边形连杆结构。在此基础上,对末端执行器的关键零件和特殊零件(如腕部法兰、电机托架等)进行了设计,对机器人的博弈动作进行了仿真分析,利用了MATALB软件估算该机器人的工作空间。另外,基于Arduino和MATALB平台设计了博弈机器人控制系统。该系统包含了运用中断函数和定时器的关节驱动系统,具有离线和在线的博弈系统,以及基于自动标定法、分区域二值化和分区域霍夫变法等算法开发了机器视觉系统。本文涉及了串口通信、机器视觉、图像处理等关键技术的应用。利用实验验证了该博弈机器人的结构和控制系统可以完成人机对弈任务。论文为后续研究具有机器视觉的人工智能产品提供了理论与实际依据,对视觉控制具有借鉴意义。
[Abstract]:In recent years, with the continuous progress of high-tech and intelligent automatic production equipment, the demand for intelligent robot is increasing, and the robot products are becoming more and more popular, which promotes the research and development of intelligent robot technology such as game robot. The research and development of game robot has the advantages of low cost, small overall size and high control flexibility. As a kind of advanced living companion and teaching tool, it will enter people's life, which has certain market demand and research value. In this paper, the robot technology and computer game are combined to design a multi-degree of freedom mechanical arm, which uses the related control program to complete the actions of grasping, abandoning and eating, and using visual technology to complete the recognition of chessboard information. According to the game algorithm, the footwork is deduced, and the man-machine game function is realized. In this paper, the classical structural design scheme of ABB460 robot is referred to, and the dual parallelogram connecting rod structure is adopted. On this basis, the key parts and special parts of the end effector (such as wrist flange, motor bracket, etc.) are designed, the game action of the robot is simulated and analyzed, and the workspace of the robot is estimated by using MATALB software. In addition, the game robot control system is designed based on Arduino and MATALB platform. The system includes a joint drive system with interrupt function and timer, an off-line and on-line game system, and a machine vision system based on automatic calibration, regionalization and sub-region Hough variation. This paper deals with the application of serial communication, machine vision, image processing and other key technologies. The structure and control system of the game robot are verified by experiments. This paper provides theoretical and practical basis for further research on artificial intelligence products with machine vision.
【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】：2017
【分类号】：TP242

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