六自由度机器人运动规划研究
发布时间：2018-08-11 17:02
【摘要】：随着国内外学者对机器人技术研究的不断深入和拓展,机器人应用也是越来越广泛,六自由度机械手在各个领域也展现出了其重要作用。本文基于六自由度串联机械手研究了在静态环境中机器人的运动控制方法,以采用C++和OpenGL编写的机器人仿真控制系统为平台,验证了机器人的运动学解算、RRT路径规划等算法。本文的研究内容可以分为机器人运动学分析、机械手运动路径规划和仿真控制系统实现三部分,各个部分紧密联系,承上启下。主要内容如下:(1)机器人正逆运动学分析:通过建立机器人运动学模型,利用D-H参数建立机器人连杆坐标系,进行机器人正逆运动学分析。本文利用坐标系之间的变换矩阵,进行正运动学求解,得到正运动学的计算结果,然后采用倍四元数以及结式化简消元的方法计算逆运动学的结果。最后给出了编程实现结果。(2)机械手运动路径规划:路径规划是根据六自由度机械手末端执行器的初始位置和指定的目的点位置,在空间静态环境中,搜索出一条可行的无碰撞路径,使机械手末端能从初始点运动到目标点。本文首先介绍标准RRT算法,然后引入方向向量改进RRT算法,并利用其规划从机械手初始位置到目的点位置的无碰撞路径。(3)仿真控制系统实现:为了验证前面的运动学分析以及运动路径规划的正确性,利用面向对象的C++语言以及OpenGL编写了六自由度串联机械手的仿真控制系统,在此平台上实现坐标系的建立、正逆运动学的解算、工作空间的绘制以及运动路径的规划等。本文编写实现的六自由度串联机械手仿真控制平台,完全模拟现实机械手臂的模型,这种三维仿真系统,对机器人以及控制理论的发展有一定的参考价值。
[Abstract]:With the deepening and expanding of the research on robot technology, the application of robot is becoming more and more extensive, and the six-degree-of-freedom manipulator is playing an important role in various fields. In this paper, the motion control method of robot in static environment is studied based on six-degree-of-freedom serial manipulator. The robot simulation control system written by C and OpenGL is used as the platform to verify the robot kinematics solution and RRT path planning algorithm. The research content of this paper can be divided into three parts: robot kinematics analysis, robot motion path planning and simulation control system realization. The main contents are as follows: (1) Robots forward and inverse kinematics analysis: by establishing robot kinematics model and using D-H parameter to establish robot connecting rod coordinate system, the robot forward and inverse kinematics analysis is carried out. In this paper, the transformation matrix between coordinate systems is used to solve the positive kinematics, and the results of positive kinematics are obtained, and then the inverse kinematics results are calculated by using the method of multiple quaternion and resultant simplification elimination. Finally, the programming results are given. (2) Motion path planning of manipulator: path planning is based on the initial position of the end actuator of 6-DOF manipulator and the designated destination position, in the space static environment. A feasible collision free path is found to enable the manipulator to move from the initial point to the target point. This paper first introduces the standard RRT algorithm, and then introduces the direction vector improved RRT algorithm. The collision free path from the initial position of the manipulator to the point of destination is planned. (3) the simulation control system is implemented: in order to verify the kinematics analysis and the correctness of the motion path planning, The simulation control system of six-degree-of-freedom series manipulator is programmed by using object-oriented C language and OpenGL. On this platform, the establishment of coordinate system, the solution of forward and inverse kinematics, the drawing of workspace and the planning of motion path are realized. In this paper, a six-degree-of-freedom series manipulator simulation control platform is developed to simulate the model of real manipulator. This three-dimensional simulation system has some reference value for the development of robot and control theory.
【学位授予单位】：济南大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TP242
本文编号：2177655
[Abstract]:With the deepening and expanding of the research on robot technology, the application of robot is becoming more and more extensive, and the six-degree-of-freedom manipulator is playing an important role in various fields. In this paper, the motion control method of robot in static environment is studied based on six-degree-of-freedom serial manipulator. The robot simulation control system written by C and OpenGL is used as the platform to verify the robot kinematics solution and RRT path planning algorithm. The research content of this paper can be divided into three parts: robot kinematics analysis, robot motion path planning and simulation control system realization. The main contents are as follows: (1) Robots forward and inverse kinematics analysis: by establishing robot kinematics model and using D-H parameter to establish robot connecting rod coordinate system, the robot forward and inverse kinematics analysis is carried out. In this paper, the transformation matrix between coordinate systems is used to solve the positive kinematics, and the results of positive kinematics are obtained, and then the inverse kinematics results are calculated by using the method of multiple quaternion and resultant simplification elimination. Finally, the programming results are given. (2) Motion path planning of manipulator: path planning is based on the initial position of the end actuator of 6-DOF manipulator and the designated destination position, in the space static environment. A feasible collision free path is found to enable the manipulator to move from the initial point to the target point. This paper first introduces the standard RRT algorithm, and then introduces the direction vector improved RRT algorithm. The collision free path from the initial position of the manipulator to the point of destination is planned. (3) the simulation control system is implemented: in order to verify the kinematics analysis and the correctness of the motion path planning, The simulation control system of six-degree-of-freedom series manipulator is programmed by using object-oriented C language and OpenGL. On this platform, the establishment of coordinate system, the solution of forward and inverse kinematics, the drawing of workspace and the planning of motion path are realized. In this paper, a six-degree-of-freedom series manipulator simulation control platform is developed to simulate the model of real manipulator. This three-dimensional simulation system has some reference value for the development of robot and control theory.
【学位授予单位】：济南大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TP242
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