冗余双臂机器人协调作业系统研究

发布时间：2018-03-18 14:03

本文选题：冗余双臂机器人　切入点：避障　出处：《南京航空航天大学》2016年博士论文　论文类型：学位论文

【摘要】：冗余双臂机器人是机器人研究领域中的一个前沿课题。特别是随着单臂机器人在操作能力、控制等方面的局限性不断凸显,拥有协调操作能力的冗余双臂机器人的研究受到了越来越多的关注。然而由于协调操作的双臂之间存在着复杂的运动学和动力学约束关系,冗余双臂机器人的控制和分析具有相当的难度。本文针对冗余双臂机器人的协调作业任务,系统地研究了冗余双臂机器人运动学和动力学的相关问题,主要包括以下五个方面内容:(1)针对单个冗余机械臂的避障规划问题,提出了基于主从任务转化的避障算法。该方法将冗余机械臂避障运动的3维操作空间缩减为1维的运动空间,引入了2个转换变量,可以根据得到的实时最小距离的变化,实现机械臂末端的轨迹跟踪运动和避障运动之间的主从任务优先级转换。通过仿真实验证明了该方法在冗余机械臂的避障规划中具有良好的效果,不仅能实现冗余机械臂的避障,而且能避免任务之间的冲突。(2)对冗余双臂机器人协调操作的运动学规划问题进行了研究,引入了用于描述协调操作任务的绝对位姿变量和相对位姿变量,构造出了对应于协调操作任务的雅可比矩阵,得到了冗余双臂机器人的运动学逆解,使得冗余双臂机器人能够实现协调操作任务。结合单臂机器人的避障算法原理,提出了冗余双臂机器人协调操作的避障规划算法。通过仿真验证了冗余双臂机器人协调操作的避障规划算法的有效性。(3)利用基于解耦的自然正交补的动力学递推建模方法,对多自由度机器人的动力学建模问题进行了研究。通过引入解耦的自然正交补的概念和方法,消除了牛顿-欧拉动力学方程中的约束力项,并利用旋量来表示相关的运动学和动力学变量,提出了一种基于解耦的自然正交补的高效率反向动力学递推建模方法。针对单臂冗余机器人系统和冗余双臂机器人的开环系统,分别编制了反向动力学建模程序,并与仿真软件ADAMS得到的仿真结果进行了对比,验证了该方法的可靠性和高效性。(4)研究了构成闭环系统的冗余双臂机器人协调作业系统的载荷分配问题和动力学优化问题。利用机器人双臂之间的运动学和动力学约束关系,提出了一种无内力的载荷分配方法。通过机械臂的动力学特性,并利用冗余双臂协调系统的自运动特性,以驱动力矩的优化为目的,实现了系统的动力学性能优化。(5)根据冗余双臂机器人系统的三维结构模型,采用多体动力学仿真分析软件ADAMS建立了系统整体的虚拟样机系统。面向协调搬运任务和协调装配任务,对与双臂协调操作有关的任务分解,双臂的任务分配等问题,在虚拟样机系统中进行了数值仿真和分析,为物理样机的设计和操作提供了参考。本文所研究的避障规划、双臂协调操作、双臂机器人的动力学建模、载荷分配和力矩优化以及任务分解和分配等内容涵盖了冗余双臂机器人协调操作环境中所涉及到的关键问题,不仅为冗余双臂机器人的协调操作控制问题提供了理论支撑,而且对其他多臂、多足等复杂机器人系统的研究也具有重要的参考价值。
[Abstract]:Redundant dual arm robot is a hot topic in the research field of the robot. Especially with the single arm robot in operation ability, the limitation of control and other aspects of the research have become prominent, the redundant dual arm robot coordinated operation ability has attracted more and more attention. However, because of the complex relationship between the kinematic and dynamic constraints between the coordinated operation arms, it is quite difficult to analyze and control the redundant dual arm robot. The coordination task for redundant dual arm robot system, to study the related problems of redundant dual arm robot kinematics and dynamics, mainly including the following five aspects: (1) aiming at the obstacle avoidance planning problem of single redundant manipulator and obstacle avoidance is presented the master-slave algorithm based on the transformation of the task. This method will be 3 dimensional space redundant manipulator obstacleavoidance movement reduced to 1 dimensional movement of air Between the introduction of the 2 conversion variable, according to the real-time change of the minimum distance of the conversion, the task priority between the master-slave manipulator trajectory tracking motion and obstacle avoidance motion. Simulation results show that this method has good effect in planning without collision redundant manipulators, can not only achieve obstacle avoidance of redundant manipulators, and can avoid the conflict between tasks. (2) the kinematic planning problem of coordinated operation of redundant dual arm robot is studied, for absolute pose variables to describe the coordinated operation of the task and the relative pose variable is introduced to construct the Jacobi matrix corresponding to the coordination task, the kinematics the inverse solution of redundant dual arm robot, the redundant dual arm robot can realize the coordinated operation tasks. Combined with the single arm robot obstacle avoidance algorithm principle, put forward the redundant arms robot coordination Obstacle avoidance planning algorithm. Through the simulation to verify the effectiveness of the obstacle avoidance planning algorithm of redundant dual arm robot coordinated operation. (3) using the dynamic decoupling natural orthogonal complement recursive modeling method based on the dynamic modeling problem of multi DOF robot is studied. The concepts and methods introduced by natural orthogonal decoupling repair, elimination of binding a Newton Euler dynamic equations in, and use the screw to represent the kinematics and dynamics of correlated variables, proposes a recursive modeling method for efficient inverse dynamics of natural orthogonal complement decoupling in the open loop system. Based on ARM redundant robot system and redundant dual arm robot, are worked out. Inverse dynamics modeling and simulation program and simulation software ADAMS results were compared to verify the reliability and efficiency of the method. (4) studied. A redundant dual arm robot coordination operating system of the closed-loop system of the load distribution problem and dynamic optimization problem. Using the kinematic and dynamic constraints of robot arms between the proposed load distribution method without force. Through the dynamic characteristic of the manipulator, and the use of self motion characteristics of redundant dual arm coordination system, to optimize the driving torque for the purpose to realize the optimization of dynamic performance of the system. (5) according to the three-dimensional structure model of redundant dual arm robot system, using the multi-body dynamics analysis software ADAMS to establish a virtual prototype system of the whole system. For the coordination of handling tasks and coordination of assembly tasks and arms coordination operations related to the task decomposition, task allocation the problem of the arms, the numerical simulation and Analysis on virtual prototype system, which provides a reference for the design and operation of the physical prototype. This paper studies the obstacle avoidance planning, arms coordination, robot dynamics modeling, load distribution and torque optimization and task decomposition and allocation covers the key problems related to the redundant dual arm robot coordination in the operational environment, not only provides theoretical support for the coordinated operation control of redundant robot arms, and the other arm of the complex multi legged robot system has important reference value.

【学位授予单位】：南京航空航天大学
【学位级别】：博士
【学位授予年份】：2016
【分类号】：TP242

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