可变形移动机器人的运动控制与应用

发布时间：2018-07-11 14:25

本文选题：移动机器人 + EtherCAT网络　；参考：《沈阳理工大学》2017年硕士论文

【摘要】：近年来,从发生在城市的恐怖袭击事件、东京福岛核电站事故和天津危险品爆炸事故等突发事件可以看出,城市中发生的突发事件对国家的影响更大,而能否在发生突发事件后快速的响应,让事故对人类的影响降到最低,成为研究的一个方向。本文主要研究应对城市非结构环境下突发事件的可变形移动机器人,根据机器人的应用场景要求设计机器人的控制系统。首先,简要介绍了可变形机器人的机械结构,且结合机器人姿态的三个关键参数和结构特点针对不同的应用场景进行了详细的过程分析和构型介绍。根据可变形移动机器人的运动机构特点和状态变化,建立齐次坐标系下机器人在非结构化环境中的运动学模型,推导出机器人本体与摆臂姿态之间的运动学正解和逆解,得出摆臂的姿态变化与躯体姿态之间的运动学关系。根据机器人航向角建立了机器人航向与机器人转弯的运动学模型并建立了转弯的动力学模型,最后通过Matlab软件进行验证。结合本实验移动平台的实际机械结构尺寸、能量方程和极限条件下的几何关系,求出机器人攀爬楼梯的极限范围和防止倾翻的最大角度。以安全节能为原则规划变形机器人在攀爬楼梯过程中的运动构型,为后续的运动控制算法打下基础。采用模块化思想对可变形机器人进行了硬件集成和软件开发。硬件部分包括机器人姿态和电机位置检测模块、多轴同步控制的EtherCat主站板卡和电机伺服驱动器,并根据这些模块的特点和实际的使用场景,进行具体的参数配置和性能测试。软件部分主要分为上位机的监控界面和下位机的运动控制。上位机的控制界面以微软VS和C++为开发平台和开发语言。下位机采用QNX系统的集成开发环境,结合EtherCAT网络通信的特点进行机器人的运动控制代码开发。采用模块化的设计原则,使得控制程序具有独立性好和可移植性强等特点。最后完成了通过上位机远程控制机器人攀爬楼梯的实验测试。通过实验不仅测试了控制界面的稳定性,还验证了攀爬楼梯过程中运动规划构型的合理。结果表明该机器人控制系统稳定、可靠,满足设计要求。
[Abstract]:In recent years, from the incidents of terrorist attacks in cities, the Fukushima nuclear power plant accident in Tokyo and the dangerous goods explosion in Tianjin, it can be seen that emergencies in cities have a greater impact on the country. It is a direction of research whether to respond quickly after an emergency and to minimize the impact of accidents on human beings. This paper mainly studies the deformable mobile robot which can deal with the unexpected events in the unstructured environment of the city, and designs the robot control system according to the requirements of the robot application scene. Firstly, the mechanical structure of the deformable robot is briefly introduced, and the detailed process analysis and configuration of different application scenarios are carried out according to the three key parameters and structural characteristics of the robot attitude. According to the characteristics and state changes of the deformable mobile robot, the kinematics model of the robot in the unstructured environment in homogeneous coordinate system is established, and the forward and inverse kinematics solutions between the robot body and the attitude of the pendulum arm are derived. The kinematics relationship between the attitude change of the swinging arm and the posture of the body is obtained. According to the robot heading angle, the kinematics model of robot heading and robot turning is established, and the dynamics model of turning is established. Finally, the model is verified by Matlab software. Combined with the actual mechanical structure size, energy equation and the geometric relations under the limit conditions of the mobile platform, the limit range of the robot climbing stairs and the maximum angle to prevent the tipping are obtained. Based on the principle of safety and energy saving, the kinematic configuration of the deformation robot in climbing stairs is planned, which lays the foundation for the subsequent motion control algorithm. The hardware integration and software development of the deformable robot are carried out by modularization idea. The hardware includes robot attitude and motor position detection module, multi-axis synchronous control EtherCat main station card and motor servo driver. According to the characteristics of these modules and actual usage scenarios, the specific parameters configuration and performance testing are carried out. The software is mainly divided into the monitor interface of the upper computer and the motion control of the lower computer. The control interface of upper computer is Microsoft vs and C as the development platform and development language. The lower computer adopts the integrated development environment of QNX system and combines the characteristics of EtherCAT network communication to develop the robot motion control code. The design principle of modularization makes the control program have the characteristics of good independence and portability. Finally, the experiment test of climbing stairs by remote control robot is completed. The stability of the control interface is not only tested by experiments, but also the configuration of motion planning is proved to be reasonable during climbing stairs. The results show that the robot control system is stable, reliable and meets the design requirements.
【学位授予单位】：沈阳理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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