双臂协作农业采摘机器人若干关键技术研究
发布时间：2018-10-24 14:45
【摘要】：我国果实产量占世界总产量的比重较大,但与西方发达国家相比,我国采摘作业的自动化水平较低。与单臂机器人相比,双臂协作机器人在复杂的工作环境和操作任务中具有优势。本文以两台五自由度机械臂为例,研究双臂机器人协作进行农业采摘时的一些关键技术,如避碰路径规划、协调运动分析、时间最优轨迹规划、双臂协调控制等等,为后期进行实际采摘提供技术积累。本文首先建立了机械臂连杆坐标系,确定了各连杆的D-H参数,并运用解析法对机械臂的正逆运动学进行了分析。然后分别对关节空间轨迹规划、笛卡尔空间位置插补和姿态插补进行了研究;在避碰路径规划方面,本文对单机械臂避碰路径规划进行了研究,提出了相应的避碰检测方法和避碰路径搜寻方法,并通过仿真进行了避障模拟,结果表明机械臂能够沿着规划路径从起始点到达目标点而不与障碍物发生碰撞;在协调运动分析方面,本文首先运用蒙特卡洛法对双臂机器人工作空间进行了数值求解并获得了其工作空间云图。然后对双臂机器人的协作运动约束关系进行了分析,并以双臂孔轴配合为例进行了研究。对双臂机器人面向农业采摘作业时的跟随运动这类协作任务进行了分析与仿真,并对协作采摘任务进行了分解以及实现了相应的模拟仿真;在时间最优轨迹规划方面,本文首先采用PSO算法对单臂机器人进行了速度约束下的时间最优轨迹规划,仿真结果表明机械臂各个关节能以趋近于极限值的较大速度运动,验证了基于PSO算法的3-5-3次多项式插值的有效性;随后采用多段样条多项式插值对双臂机器人的一般时间最优轨迹规划问题进行了研究,并以4-3-3-4次多项式插值为例,对已完成无碰撞路径规划的双臂机器人进行了时间最优轨迹规划,仿真结果表明双臂机器人各个关节运动平稳、满足速度约束限制;在双臂协调控制方面,本文首先搭建了基于Arduino的双臂机器人控制系统硬件平台,然后提出了实现双臂机器人实时控制的软件方案。随后通过上位机编程,实现了几个应用Matlab/GUI界面来操控机械臂的实例。最后以双臂孔轴配合和双臂跟随这两个任务为例,对双臂机器人进行了协调控制实验,得到的结果与前面章节中的仿真结果比较接近。
[Abstract]:The fruit yield in China accounts for a large proportion of the total output in the world, but compared with the developed countries in the West, the automatic level of picking in our country is lower. Compared with single arm robot, dual-arm cooperative robot has advantages in complex working environment and operation task. In this paper, two five-degree-of-freedom manipulators are taken as an example to study some key technologies of dual-arm robot cooperation in agricultural harvesting, such as collision avoidance path planning, coordinated motion analysis, time-optimal trajectory planning, dual-arm coordinated control and so on. For the later stage of actual picking to provide technology accumulation. In this paper, the coordinate system of the connecting rod of the manipulator is established, the D-H parameters of each link are determined, and the forward and inverse kinematics of the manipulator is analyzed by using the analytical method. Then the joint space trajectory planning, Cartesian space position interpolation and attitude interpolation are studied, and in the aspect of collision avoidance path planning, the single manipulator collision avoidance path planning is studied in this paper. The corresponding collision avoidance detection method and collision avoidance path search method are put forward, and the obstacle avoidance simulation is carried out through simulation. The results show that the manipulator can reach the target point from the starting point along the planned path without colliding with the obstacle. In the aspect of coordinated motion analysis, firstly, Monte Carlo method is used to solve the workspace of dual-arm robot numerically and the workspace cloud map is obtained. Then, the cooperative motion constraint relationship of dual-arm robot is analyzed, and an example of double-arm hole shaft matching is studied. This paper analyzes and simulates the cooperative tasks such as the following motion when the dual-arm robot is oriented to the agricultural picking, and decomposes the cooperative picking task and realizes the corresponding simulation, and in the aspect of the time optimal trajectory planning, the paper analyzes and simulates the cooperative task. In this paper, the time optimal trajectory planning of single-arm robot under velocity constraint is carried out by using PSO algorithm. The simulation results show that each joint of the manipulator can move at a large speed approaching the limit value. The validity of 3-5-3 degree polynomial interpolation based on PSO algorithm is verified, and then the general time optimal trajectory planning problem of dual-arm robot is studied by using multi-segment spline polynomial interpolation, and the 4-3-3-3-4 degree polynomial interpolation is taken as an example. The time optimal trajectory planning for the two-arm robot which has completed the path planning without collision is carried out. The simulation results show that the motion of each joint of the two-arm robot is stable and meets the speed constraint. In this paper, the hardware platform of dual-arm robot control system based on Arduino is first built, and then the software scheme to realize real-time control of dual-arm robot is proposed. Then, several examples of manipulating manipulator with Matlab/GUI interface are realized by PC programming. Finally, the coordination control experiments are carried out on the dual-arm robot by taking the two tasks of double-arm hole axis matching and double-arm following as examples. The results obtained are close to the simulation results in the previous chapters.
【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
本文编号：2291711
[Abstract]:The fruit yield in China accounts for a large proportion of the total output in the world, but compared with the developed countries in the West, the automatic level of picking in our country is lower. Compared with single arm robot, dual-arm cooperative robot has advantages in complex working environment and operation task. In this paper, two five-degree-of-freedom manipulators are taken as an example to study some key technologies of dual-arm robot cooperation in agricultural harvesting, such as collision avoidance path planning, coordinated motion analysis, time-optimal trajectory planning, dual-arm coordinated control and so on. For the later stage of actual picking to provide technology accumulation. In this paper, the coordinate system of the connecting rod of the manipulator is established, the D-H parameters of each link are determined, and the forward and inverse kinematics of the manipulator is analyzed by using the analytical method. Then the joint space trajectory planning, Cartesian space position interpolation and attitude interpolation are studied, and in the aspect of collision avoidance path planning, the single manipulator collision avoidance path planning is studied in this paper. The corresponding collision avoidance detection method and collision avoidance path search method are put forward, and the obstacle avoidance simulation is carried out through simulation. The results show that the manipulator can reach the target point from the starting point along the planned path without colliding with the obstacle. In the aspect of coordinated motion analysis, firstly, Monte Carlo method is used to solve the workspace of dual-arm robot numerically and the workspace cloud map is obtained. Then, the cooperative motion constraint relationship of dual-arm robot is analyzed, and an example of double-arm hole shaft matching is studied. This paper analyzes and simulates the cooperative tasks such as the following motion when the dual-arm robot is oriented to the agricultural picking, and decomposes the cooperative picking task and realizes the corresponding simulation, and in the aspect of the time optimal trajectory planning, the paper analyzes and simulates the cooperative task. In this paper, the time optimal trajectory planning of single-arm robot under velocity constraint is carried out by using PSO algorithm. The simulation results show that each joint of the manipulator can move at a large speed approaching the limit value. The validity of 3-5-3 degree polynomial interpolation based on PSO algorithm is verified, and then the general time optimal trajectory planning problem of dual-arm robot is studied by using multi-segment spline polynomial interpolation, and the 4-3-3-3-4 degree polynomial interpolation is taken as an example. The time optimal trajectory planning for the two-arm robot which has completed the path planning without collision is carried out. The simulation results show that the motion of each joint of the two-arm robot is stable and meets the speed constraint. In this paper, the hardware platform of dual-arm robot control system based on Arduino is first built, and then the software scheme to realize real-time control of dual-arm robot is proposed. Then, several examples of manipulating manipulator with Matlab/GUI interface are realized by PC programming. Finally, the coordination control experiments are carried out on the dual-arm robot by taking the two tasks of double-arm hole axis matching and double-arm following as examples. The results obtained are close to the simulation results in the previous chapters.
【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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