双目视觉机器人轨迹规划与跟踪技术的研究

发布时间：2018-08-09 11:41

【摘要】：目前,工业机器人已成为现代制造业不可或缺的部分,对其轨迹规划与跟踪进行研究很有必要。本文以库卡机器人为载体,通过理论加仿真验证相结合的方式,对轨迹规划与跟踪进行了深入研究。为了使机器人快速稳定的对空间的目标位置信息的获取,在现有机器人模型上搭载双目视觉系统,为其控制提供目标的随机位置信息。轨迹规划是轨迹跟踪的基础,故先对机器人轨迹规划进行了研究与分析,然后在此基础上对轨迹跟踪展开了研究与分析。(1)对双目视觉系统进行了介绍,将双目的空间定位功能运用到机器人系统中。首先,通过分析相机的成像模型,得到了图像坐标系、相机坐标系、世界坐标系三者的关系,并对双目相机系统进行标定;然后,分析了视觉机器人的坐标变换关系,将视觉系统与机器人坐标系进行标定;最后,利用C++构建了标定与空间点的坐标变换的软件平台。(2)以库卡6自由度机器人为研究对象,对其进行DH坐标系建模,推导了出运动学与动力学方程。随后,运用MATLAB软件对建立的模型进行验证。在运动学的基础上,对机器人在关节空间与笛卡尔空间下分别进行轨迹规划研究。为了让机器人末端执行器平滑的抓取随机目标,选用三次样条插值在笛卡尔空间对轨迹进行规划,并拟合出末端的轨迹。最后,运用机器人工具箱对关节空间轨迹规划进行仿真,并绘制出各个关节角位置、速度、加速度与末端位置的轨迹,从理论上验证了仿真算法的正确性。(3)为了让机器人末端执行器平稳无冲击的跟踪期望轨迹,在轨迹跟踪控制算法中考虑其动力学特性。首先,在动力学模型基础上对传统的轨迹跟踪算法进行分析,提出反馈线性积分滑模算法,并用李雅普诺夫理论对其运稳定性进行了分析,最后,用matlab软件对上述算法分别进行仿真,仿真结果验证了本研究提出的算法的可行性及其在跟踪精度和响应时间两方面的优势。
[Abstract]:At present, industrial robot has become an indispensable part of modern manufacturing industry, so it is necessary to study its trajectory planning and tracking. In this paper, the trajectory planning and tracking are deeply studied by using Kuka robot as carrier and combining theory with simulation verification. In order to obtain the target position information of the space quickly and stably, the binocular vision system is mounted on the existing robot model to provide the random position information of the target for its control. Trajectory planning is the basis of trajectory tracking, so the trajectory planning of the robot is studied and analyzed firstly, and then the trajectory tracking is studied and analyzed. (1) the binocular vision system is introduced. The spatial positioning function of binocular is applied to robot system. Firstly, by analyzing the imaging model of the camera, the relationship among image coordinate system, camera coordinate system and world coordinate system is obtained, and the binocular camera system is calibrated, and then the coordinate transformation relationship of the vision robot is analyzed. The vision system and robot coordinate system are calibrated. Finally, the software platform of calibration and coordinate transformation of space points is constructed by using C. (2) the DH-coordinate system is modeled by taking Kuka 6-DOF robot as the research object. The kinematics and dynamics equations are derived. Then, the MATLAB software is used to verify the established model. On the basis of kinematics, trajectory planning of robot in joint space and Cartesian space is studied. In order to make the robot end effector grasp the random target smoothly, the cubic spline interpolation is used to plan the trajectory in Cartesian space, and the trajectory of the end is fitted. Finally, the robot toolbox is used to simulate the joint space trajectory planning, and the trajectory of each joint angle position, velocity, acceleration and end position is drawn. The correctness of the simulation algorithm is verified theoretically. (3) in order to make the robot end effector track the desired trajectory smoothly and without impact, the dynamic characteristics of the trajectory tracking control algorithm are considered. Firstly, based on the dynamic model, the traditional trajectory tracking algorithm is analyzed, and the feedback linear integral sliding mode algorithm is proposed. The stability of the algorithm is analyzed by Lyapunov theory. The simulation results with matlab software verify the feasibility of the proposed algorithm and its advantages in tracking accuracy and response time.
【学位授予单位】：湖北工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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