多机械手协作系统运动协调与智能混合跟踪控制研究

发布时间：2018-08-24 20:56

【摘要】：工业生产逐渐向高精度、高效率等方向发展,因此也要求机械手不断更新换代以满足越来越复杂的任务要求。就当前的机械手发展状况来说,单个机械手灵活性差、效率低下,例如复杂的搬运、装配、维修和焊接任务中,单独的机械手在信息的收集及控制处理等方面都表现出了很大的局限性。而多机械手协作灵活性强,负载能力大,可以完成复杂多样的任务形式,因此,对多机械手协作系统进行研究具有重要意义。本文在现有MD-6机械手基础上,采取D-H参数法推导运动学方程,引入MATLAB中的机器人工具箱证明了机械手运动学求解的准确性。在建立的单独的MD-6机械手模型基础上,构造多个MD-6型机械手的整体关系,并对多个MD-6机械手组成的协作系统动力学进行分析,为接下来的轨迹协调和跟踪控制研究奠定了基础。通过对多机械手协作进程中末端执行器中心位姿的相对运动进行研究,把多机械手协作系统的运动状态归结成同步运动和相对运动两种。分别对两种运动状态下机械手末端位姿的运动学约束方程进行推导计算,并用ADAMS和MATLAB/Simulink联合仿真,结果表明机械手协作能完成预期任务,证明了协作系统运动学推导算法的正确性。同时探索了外部负载对于机械手末端位姿的影响,能够实现对误差的有效预测。对多机械手协作系统的力/位置混合控制问题进行研究,对比分析了 PID控制和滑模补偿控制,仿真结果表明滑模补偿控制跟踪效果更佳,但是经常伴有抖振情形。对此,提出基于模糊增益自适应的滑模轨迹跟踪控制策略,通过Simulink模拟显示,所提控制算法有效且合理,抖振消除。通过对多机械手协作和智能混合跟踪控制的研究,解决了多机械手协作的同步运动和相对运动问题,减小了力/位置的跟踪误差,为解诀实际工程问题提供了一定的理论基础。
[Abstract]:Industrial production is gradually developing towards high precision and high efficiency, so the manipulator is also required to be updated to meet the more and more complex task requirements. In terms of the current state of manipulator development, individual manipulators are less flexible and inefficient, such as complex handling, assembly, maintenance and welding tasks, Individual manipulators show great limitations in information collection and control. But the multi-manipulator cooperation is flexible, the load ability is big, can complete the complex and diverse task forms, therefore, it is of great significance to study the multi-manipulator cooperation system. In this paper, based on the existing MD-6 manipulator, the kinematics equation is derived by using D-H parameter method, and the accuracy of kinematics solution of the manipulator is proved by introducing the robot toolbox in MATLAB. Based on the individual MD-6 manipulator model, the global relationship of multiple MD-6 manipulators is constructed, and the dynamics of cooperative system composed of multiple MD-6 manipulators is analyzed, which lays a foundation for the following research on trajectory coordination and tracking control. Based on the study of the relative motion of the center position of the terminal actuator in the process of multi-manipulator cooperation, the motion state of the multi-manipulator cooperative system is divided into two types: synchronous motion and relative motion. The kinematics constraint equations of the end position and pose of the manipulator in two kinds of motion states are deduced and calculated, and the simulation results with ADAMS and MATLAB/Simulink show that the manipulator cooperation can accomplish the expected task. It is proved that the kinematics derivation algorithm of cooperative system is correct. At the same time, the influence of the external load on the position and pose of the manipulator is explored, which can effectively predict the error. In this paper, the force / position hybrid control of multi-manipulator cooperative system is studied, and the PID control and sliding mode compensation control are compared. The simulation results show that the tracking effect of sliding mode compensation control is better, but often accompanied by chattering. In this paper, a sliding mode trajectory tracking control strategy based on fuzzy gain adaptive control is proposed. Simulink simulation shows that the proposed control algorithm is effective and reasonable, and buffeting cancellation. Through the research of multi-manipulator cooperation and intelligent hybrid tracking control, the synchronous and relative motion problems of multi-manipulator cooperation are solved, and the tracking error of force / position is reduced, which provides a theoretical basis for solving practical engineering problems.
【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】：TP241

【参考文献】