Cyton Gamma 300七自由度机械臂逆解分析及控制

发布时间：2018-10-16 13:12

【摘要】：随着工业的发展和科技的进步,机械臂在工业生产中得到了越来越广泛的应用。对机械臂的研究,有助于提高工作效率和改善操作性能。而机械臂运动学、路径规划和控制理论则是机械臂研究的重要基础。针对上述问题,本文以美国ROBAI公司生产的Cyton Gamma 300七自由度机械臂为研究对象进行建模与仿真。首先按照Denavit-Hatenberg方法建立Cyton Gamma 300七自由度机械臂的运动学模型,求出机械臂的正运动学方程,得到机械臂的正运动学解。再根据Denavit-Hatenberg参数,应用解析法求得机械臂的逆运动学解。调用MATLAB中Robotics Toolbox中的link和robot函数建立Cyton Gamma 300七自由度机械臂模型,验证机械臂运动学的正解和逆解的正确性。与应用机械臂运动学方程得到的解作比较,结果一致,则说明运动学方程是正确的。在运动学的基础上,应用拉格朗日函数建立了机械臂的动力学模型。机械臂轨迹规划对机械臂快速、稳定、准确的动作有着至关重要的影响。为了增加在关节空间中机械臂的平稳性,减小冲击和振动,必须保证每个点的关节角速度、角加速度甚至jerk函数的连续性。通过Cyton Gamma 300七自由度机械臂的运动学求得的逆解方程将Cyton Gamma 300七自由度机械臂末端位姿转换成对应的关节角度,在关节空间中使用多项式插值和正弦函数轨迹规划方法对机械臂的路径规划,获得机械臂各关节的轨迹曲线,把用这两种不同的方法得到的轨迹曲线作比较,分析组合曲线在轨迹规划中的优势。根据拉格朗日函数建立机械臂的动力学模型,得到机械臂的动力学方程。在建立的动力学模型基础上,将应用非对称组合正弦函数得到的轨迹曲线作为机械臂运动的参考曲线,依据鲁棒控制原理和方法设计一个鲁棒控制器。最后将系统的鲁棒控制转化为最优控制,寻找符合要求的最优解,设计出一个鲁棒最优控制器。
[Abstract]:With the development of industry and the progress of science and technology, the manipulator has been more and more widely used in industrial production. The research on the manipulator is helpful to improve the working efficiency and operation performance. The kinematics, path planning and control theory of manipulator are the important foundation of manipulator research. In order to solve the above problems, this paper models and simulates the Cyton Gamma 300 7 DOF manipulator produced by ROBAI Company. Firstly, the kinematics model of the Cyton Gamma 300-DOF manipulator is established according to the Denavit-Hatenberg method, and the forward kinematics equation of the manipulator is obtained, and the positive kinematics solution of the manipulator is obtained. According to the Denavit-Hatenberg parameters, the inverse kinematics solution of the manipulator is obtained by analytical method. The link and robot functions in Robotics Toolbox in MATLAB are used to establish the Cyton Gamma 300 seven degree of freedom manipulator model, which verifies the correctness of the forward and inverse solutions of the manipulator kinematics. The results are consistent with the results obtained by applying the kinematics equation of the manipulator, and the results show that the kinematics equation is correct. On the basis of kinematics, the dynamic model of manipulator is established by using Lagrangian function. Trajectory planning plays an important role in the rapid, stable and accurate movement of the manipulator. In order to increase the stability of the manipulator in the joint space and reduce the shock and vibration, the continuity of the joint angular velocity, angular acceleration and even the jerk function of each point must be guaranteed. The inverse solution equation obtained by kinematics of the Cyton Gamma 3007-DOF manipulator transforms the terminal position and pose of the Cyton Gamma 3007-DOF manipulator into the corresponding joint angle. Using polynomial interpolation and sinusoidal function trajectory planning method in the joint space, the path planning of the manipulator is obtained, and the trajectory curves of the joints of the manipulator are obtained, and the trajectory curves obtained by these two different methods are compared. The advantage of composite curve in trajectory planning is analyzed. According to the Lagrange function, the dynamic model of the manipulator is established, and the dynamic equation of the manipulator is obtained. On the basis of the established dynamic model, a robust controller is designed based on the robust control principle and method by using the trajectory curve obtained from the asymmetric combined sinusoidal function as the reference curve of the manipulator motion. Finally, the robust control of the system is transformed into the optimal control, and a robust optimal controller is designed.
【学位授予单位】：中北大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TP241

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