反恐防暴机器人腿部变形控制研究

发布时间：2018-07-17 06:52

【摘要】：随着机器人技术的不断发展,移动机器人的应用不再局限于室内,而是更多的应用于事故现场搜救、工程探测、反恐防爆等室外领域。近年来,自然灾害、人为事故以及国内外恐怖主义日渐频繁,迫切需要能在复杂环境作业的机器人代替人工,避免造成更多的人员伤亡。复杂环境下对机器人的越障性、稳定性、效率性有很大的要求,因此,研究出一种能够适应不同环境的反恐防暴机器人具有重大意义。本论文的研究目的是使反恐防暴机器人能够通过腿部变形来改变自身的运行姿态,适应不同的地形环境,而变形过程的平稳性、准确性、快速性是首要考虑的问题。笔者提出了基于Floyd算法的变形策略,把机器人的若干种常见姿态简化为有向图中的顶点,以姿态之间变换的电机旋转角度以及重心偏移量作为有向图的权值因素,于是变形问题转化为最短路径求解问题。由于反恐防暴机器人的四条腿之间是并联式结构,而每条腿则是串联且相互对称的,因此本论文利用运动学D-H模型对机器人的单个腿部进行建模分析,并推广至整个结构;然后构建反恐防暴机器人的重心模型,利用运动学中齐次变换矩阵的求解方法,给出了机器人在不同姿态时的重心位置坐标的求解公式,进而确定姿态变换权值,实现变形功能。四履带电机的速度保持同步,才能平稳、安全的完成机器人的变形、行进等任务。本论文采用MATLAB仿真找到一种最适合四电机的偏差耦合同步控制方式;为了改进速度同步的效果,又加入了模糊PID控制器,在Simulink环境下搭建基于模糊PID的偏差耦合同步控制模型。分析电机转速曲线和误差曲线可知,四电机速度同步性能良好,可以推广到实际运用当中。实验验证,基于Floyd算法的反恐防暴机器人变形策略能够快速、准确的找到两个姿态之间的最佳变换路径,机器人能够随时改变自身形态以适应不同的地形环境。
[Abstract]:With the continuous development of robot technology, the application of mobile robot is not confined to indoor, but more used in the field of accident scene search and rescue, engineering detection, anti-terrorist explosion prevention and other outdoor fields. In recent years, natural disasters, man-made accidents and terrorism at home and abroad are becoming more and more frequent. It is urgent to replace human beings with robots that can operate in complex environments to avoid causing more casualties. In the complex environment, there are great requirements for the robot to surmount obstacles, stability and efficiency. Therefore, it is of great significance to study a kind of anti-riot robot which can adapt to different environments. The purpose of this paper is to make the anti-riot robot change its running posture through leg deformation and adapt to different terrain environment. The stability, accuracy and rapidity of the deformation process are the most important problems. In this paper, based on Floyd algorithm, a deformational strategy is proposed, in which some common robot postures are simplified as vertices in directed graph, and the rotation angle of motor and the offset of gravity center are taken as the weight factors of directed graph. So the deformation problem is transformed into the shortest path problem. Due to the parallel structure between the four legs of the anti-riot robot, and each leg is in series and symmetry, this paper uses the kinematics D-H model to model and analyze the single leg of the robot, and extends it to the whole structure. Then, the barycenter model of anti-riot robot is constructed. By using the solution method of homogeneous transformation matrix in kinematics, the solution formula of the coordinate of the center of gravity position of the robot in different attitude is given, and the weight of attitude transformation is determined. Realize the function of deformation. The speed of the four-track motor can be kept in sync so that the robot can be deformed and marching smoothly and safely. In order to improve the effect of speed synchronization, a fuzzy pid controller is added to build the biasing coupling synchronous control model based on fuzzy pid in Simulink environment. By analyzing the motor speed curve and error curve, it can be known that the speed synchronization performance of four motors is good, which can be extended to practical application. Experimental results show that the anti-riot robot deformation strategy based on Floyd algorithm can quickly and accurately find the best path between the two postures and the robot can change its shape at any time to adapt to different terrain environment.
【学位授予单位】：山东科技大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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