安全遮拦搬运机器人优化设计及其控制算法研究

发布时间：2018-04-14 15:34

本文选题：搬运机器人 + 移动机械臂　；参考：《中国民航大学》2017年硕士论文

【摘要】：随着移动机器人技术的发展,带有机械臂的搬运机器人成为人们研究的技术热点。机场航站楼等公共场所在客流高峰时段会利用安全遮拦疏导人流、规范秩序。针对安全遮拦需求量多、不易搬运等问题,本课题设计了一款安全遮拦搬运机器人,可以实现自主搬运、收放并且合理布置安全遮拦的功能。根据安全遮拦的特殊结构形式和工作任务要求,采用圆柱坐标式机械臂结构,分析机械臂的各个关节和移动平台的结构及其工作原理,对各模块的驱动电机进行动力学性能匹配。利用静力学仿真,模拟在工作状态时机械臂结构的应力分布和变形程度,验证设计方案的合理有效性。结合改进的机械臂,建立运动学模型,通过运动学正解计算末端执行器的工作范围。结合机械臂的工作流程,对机械臂进行关节空间轨迹规划,通过MATLAB仿真得到机械臂末端的空间运动轨迹和各个关节的运动曲线。针对搬运机器人在较少磁带引导过程中存在的路径偏差,设计了一种基于模糊迭代学习的路径纠偏控制器。结合六轮中驱差速式移动平台,设计基于“粗磁带定位”和“精确磁带定位”的路径偏差定位系统,利用模糊迭代学习纠正不同转弯半径的路径偏差。实验结果表明该控制方法可以实现机器人精确定位和循迹跟踪。基于PC+PLC控制系统,搭建搬运机器人实验验证平台。PC上位机用于接收和处理传感器信息,给PLC发送相应指令,PLC主要完成机械臂的轨迹规划和移动平台的运动控制。现场实验测试表明该方案可以实现机械臂合理的运动规划和移动平台在极少磁带下的循迹,能够自主高效地完成放置、回收安全遮拦的工作任务。
[Abstract]:With the development of mobile robot technology, moving robot with robot arm has become the focus of research.Airport terminal and other public places will use safety to clear the passenger flow and regulate the order during the rush hour.In order to solve the problems such as high demand for safe blocking and difficult to carry, this paper designs a safe sheltering and handling robot, which can realize the function of self-handling, receiving and reasonably arranging safe blocking.According to the special structure form and work task requirement of safety shielding, the structure and working principle of each joint and moving platform of the manipulator are analyzed by using the cylindrical coordinate structure of the manipulator.The dynamic performance of the driving motor of each module is matched.The stress distribution and deformation degree of the manipulator structure are simulated by static simulation, and the validity of the design scheme is verified.Combined with the improved manipulator, the kinematics model is established, and the working range of the end actuator is calculated by the kinematics forward solution.Combined with the work flow of the manipulator, the joint space trajectory of the manipulator is planned, and the space motion trajectory of the end of the manipulator and the motion curve of each joint are obtained by MATLAB simulation.A path correction controller based on fuzzy iterative learning is designed for the path deviation of the handling robot in the process of less tape guidance.Combined with the six-wheel drive differential mobile platform, a path deviation positioning system based on "coarse tape positioning" and "accurate tape positioning" is designed, and the path deviation with different turning radius is corrected by fuzzy iterative learning.The experimental results show that the proposed control method can realize the precise localization and tracking of the robot.Based on PC PLC control system, an experimental verification platform for moving robot is built. PC is used to receive and process sensor information, and the corresponding instruction is sent to PLC to complete the trajectory planning of the manipulator and the motion control of the mobile platform.The field test shows that the scheme can realize the reasonable motion planning of the manipulator and the tracking of the mobile platform under very few tapes, and it can accomplish the task of placing and recovering the safe shelter independently and efficiently.
【学位授予单位】：中国民航大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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