基于多传感器的全方位移动装配机器人运动研究

发布时间：2018-09-19 12:11

【摘要】：全方位移动机器人(以下简称OMR)可以成为优势明显的自动导引小车(以下简称AGV),而AGV又是智能物流领域的重要组成部分,有很大的发展潜力。本文旨在开发一种面向空间狭小环境的全方位移动装配机器人(以下简称A-OMR),可应用在工厂车间装配环境和货运物流领域。文章重点研究基于多传感器的控制系统设计、轨迹跟踪控制、目标位置旋转定位、协同装配及避障等方法,最后通过实验验证了相关方法的有效性。首先,本文介绍了A-OMR的整体结构。在综合考虑各MY轮优缺点的基础上提出了双球冠差动式全方位轮(以下简称DSCDOW)式结构。该轮在结构上做了很大改进,尤其是将传统的串联式安装方式改为并联式,并在四组DSCDOW组成的移动平台上搭建了具有两个自由度的并联操作机构。基于A-OMR的整体结构,通过对移动机构与并联举升机构的运动学分析得到机器人的整体运动学模型。之后,搭建了机器人的控制系统。为保证稳定性和实时性,开发了NI myRIO-1900微控制器为主控的控制系统,该系统具有上层上位机、中层微控制器和底层驱动器及多传感器三层控制结构。系统同时开发了基于LabVIEW的软件系统,实现人机交互功能。最后,提出了基于多传感器的控制方法。轨迹跟踪控制方法的实现应用了红外传感器,结合机器人的全方位特性提出了圆周形红外循迹阵列。为了提高循迹精度,对单层圆周阵列和双层圆周阵列进行了对比分析,得出采用双层圆周阵列具有更高的循迹精度。进而对轨迹特征进行优化设计,得出了与双层圆周阵列模块相适应的最佳轨迹宽度。基于以上的轨迹跟踪控制方法,为使机器人能够在目标位置精确定位实现高精度装配,提出了目标位置旋转定位方法,并对定位过程进行了运动仿真,验证了该方法的有效性。此外,还对基于红外循迹模块的多传感器协同装配、避障等方法进行了计算分析,并通过实验验证了以上方法的正确性。
[Abstract]:The omnidirectional mobile robot (OMR) can become the dominant automatic guided vehicle (AGV),) and AGV is an important part of the intelligent logistics field, which has great development potential. The purpose of this paper is to develop a kind of omnidirectional mobile assembly robot (A-OMR) which can be used in the assembly environment of factory workshop and freight logistics field. This paper focuses on the design of multi-sensor based control system, trajectory tracking control, target location rotation, collaborative assembly and obstacle avoidance methods. Finally, the effectiveness of the related methods is verified by experiments. Firstly, the whole structure of A-OMR is introduced. On the basis of considering the advantages and disadvantages of each MY wheel, a double spherical crown differential omnidirectional wheel (DSCDOW) structure is proposed. The structure of the wheel has been greatly improved, especially the traditional series installation mode has been changed to parallel mode, and a parallel operation mechanism with two degrees of freedom has been built on the mobile platform composed of four groups of DSCDOW. Based on the whole structure of A-OMR, the kinematics model of the robot is obtained by the kinematics analysis of the mobile mechanism and the parallel lifting mechanism. After that, the control system of the robot is built. In order to ensure stability and real-time, a control system with NI myRIO-1900 microcontroller as main controller is developed. The system has three layers of control structure: upper computer, middle-level microcontroller, bottom driver and multi-sensor. At the same time, the software system based on LabVIEW is developed to realize man-machine interaction. Finally, a multi-sensor based control method is proposed. The infrared sensor is used to realize the trajectory tracking control method, and a circular infrared tracking array is proposed based on the omnidirectional characteristics of the robot. In order to improve the tracking accuracy, the single-layer circular array and the double-layer circular array are compared and analyzed. It is concluded that the double-layer circular array has higher tracking accuracy. Furthermore, the trajectory characteristics are optimized and the optimal trajectory width is obtained, which is suitable for the double-layer circular array module. Based on the above trajectory tracking control methods, in order to enable the robot to accurately locate the target position to achieve high precision assembly, the target position rotation positioning method is proposed, and the motion simulation of the positioning process is carried out, which verifies the effectiveness of the method. In addition, the methods of multi-sensor cooperative assembly and obstacle avoidance based on infrared tracking module are calculated and analyzed, and the correctness of the above methods is verified by experiments.
【学位授予单位】：沈阳航空航天大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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