一类助老助残服务机器人建模与控制技术研究

发布时间：2018-06-15 11:33

本文选题：服务机器人 + 爬楼梯　；参考：《南京理工大学》2016年博士论文

【摘要】：随着老龄化社会的到来,我国养老事业面临着巨大的压力。老年人口数量大,人口老龄化速度快、来势猛,由于经济基础薄弱出现了未富先老、独生子女难以承担多个老人的养老等问题。同时,我国还有大量因工伤、交通事故等导致的下肢残疾者。目前国内各大城市和乡镇居民楼以多层无电梯楼房为主,给他们的出行带来了诸多不便。轮椅作为行动不便的老年人和下肢残疾者的主要代步工具越来越普及,但常见的轮椅极少具备翻越障碍和爬楼功能。为了更好地关爱老年人和下肢残疾者,应用现代高新技术,研究一种价格适中、具有爬楼功能的多功能服务机器人,扩大老年人和下肢残疾者的活动范围,改善他们的生活质量,减轻护理人员压力,即符合国家中长期科技服务机器人发展的战略,又具有重大的经济和社会效益。为满足新型服务机器人研制的需求,本文研究了多功能助老助残服务机器人的若干关键技术,设计了一种平地和楼梯两用的多功能助老助残服务机器人方案,建立了服务机器人的数学模型,研究了服务机器人多关节轨迹跟踪和同步控制器的设计方法,针对载人机器人的特点研究了其运动稳定性分析和控制方法,通过数字化虚拟样机和联合仿真技术验证了研究方案和控制策略的有效性,主要内容如下:(1)针对助老助残服务机器人的需求,提出了一种平地、楼梯两用助行机器人的设计方案,设计了两组爬楼梯机构实现机器人爬楼梯功能,连杆机构的作用类似于轮足式机器人中的足式机构,用于弥补上下楼时前后轮的高度差,使车体保持水平。在前轮通过连杆机构调节运动过程中的车体姿态,保证车体水平,并减小了机器人车体的波动程度。建立了多功能助行服务机器人的运动学和动力学模型,通过运动学分析规划了爬楼梯过程中各关节的理想运动轨迹,为运动控制奠定了基础。(2)以运动学规划的各关节理想运动轨迹为跟踪目标,针对系统存在扰动、惯量不确定以及传统滑模控制易抖振的情况,提出了一种基于高阶滑模助行机器人轨迹跟踪控制器设计方法,以减小摄动参数以及扰动转矩的影响,保证单个关节轨迹跟踪性能。运用Lyapunov理论分析了闭环控制系统的稳定性,证明了在所设计的控制器作用下,轨迹跟踪误差收敛。(3)针对多关节之间的协调控制,将助行机器人多个关节的协调控制与跟踪控制结合,在单关节鲁棒控制的基础上引入多关节交叉耦合控制技术,提出了助行机器人多关节同步高阶滑模控制器的设计方法,以减小相邻关节间轨迹跟踪误差累积对系统性能造成的影响,保证了多关节协调运行,运用Lyapunov理论分析了系统的稳定性,实现了多个关节的鲁棒控制。(4)考虑载人机器人具有人机交互的特殊性,在受到地形干扰和人体坐姿干扰的情况下,提出了一种适用于载人机器人的动态稳定性分析方法,并在动态稳定性分析的基础上,提出了一种助行机器人稳定性控制策略,根据稳定性指数实时调整连杆机构的期望运动轨迹,使机器人在受到干扰时能及时调整车体姿态,保持车身水平。运用Lyapunov理论分析闭环控制系统的稳定性,证明在所设计的控制器下,稳定角误差和速度跟踪误差均收敛。(5)建立助行机器人联合仿真平台,在ADAMS中建立虚拟样机,设计MATLAB和ADAMS的联合仿真平台。以虚拟样机为被控对象,将单关节控制算法、多关节协调控制算法以及运动稳定控制算法分别用于被控对象,验证了所提算法的有效性。
[Abstract]:With the coming of the aging society, the old age population in China is facing great pressure. The number of elderly population is large, the population aging is fast and the situation is fierce. Because of the weak economic foundation, the elderly are not rich and old, and the only child is difficult to bear the pension of many old people. At the same time, there are still a lot of lower limbs caused by industrial injuries and traffic accidents in China. People with disabilities. At present, the main cities and townships in the large cities and townships are mainly multi-storey and non elevator buildings, which have brought a lot of inconvenience to them. The wheelchair is becoming more and more popular for the elderly and the disabled of the lower extremities. But the common wheelchairs rarely have the function of turning over obstacles and climbing buildings. People and lower extremity disabled people, applying modern high technology, study a multi-functional service robot with moderate price and climbing function, expand the range of the activities of the disabled and the elderly, improve their quality of life, reduce the pressure of the nursing staff, that is, it is in line with the strategy of the development of the long term service robot in the state. Economic and social benefits. In order to meet the needs of the development of a new service robot, this paper studies several key technologies of the multi-function aged and disabled service robot, and designs a multi-functional robot scheme for the disabled service robot with flat ground and staircase. The mathematical model of the service robot is established, and the multi joint rail of the service robot is studied. The design method of trace tracking and synchronous controller is designed to study the motion stability analysis and control method for the characteristics of manned robot. The effectiveness of the research scheme and control strategy is verified by digital virtual prototype and joint simulation technology. The main contents are as follows: (1) a new method is proposed for the needs of the aged assisting service robot. Two sets of stairs climbing mechanism is designed to realize the function of the robot climbing staircase. The function of the connecting rod mechanism is similar to the foot type mechanism in the wheel foot type robot. It is used to make up the height difference between the front and back wheels of the upper and lower floors and keep the body level. The front wheel adjusts the movement process through the connecting rod mechanism in the front wheel. The posture of the car body ensures the level of the body and reduces the fluctuation of the body of the robot. A kinematic and dynamic model of the multi-function service robot is set up. The ideal motion trajectory of the joints in the stairs is planned through kinematics analysis, which lays the foundation for the control of the motion. (2) the ideal transportation of the joints in the kinematic planning is made. The trajectory tracking is a tracking target. Aiming at the disturbance of the system, the uncertainty of inertia and the easy vibration of the traditional sliding mode control, a design method based on the high order sliding mode robot trajectory tracking controller is proposed to reduce the influence of the perturbation parameters and disturbance torque, and to ensure the tracking performance of the single joint. The Lyapunov theory is used. The stability of the closed loop control system is analyzed. It is proved that the trajectory tracking error is convergent under the function of the designed controller. (3) combining the coordinated control of multiple joints, the multi joint cross coupling control technology is introduced on the basis of the robust control of the single joint, and the multi joint cross coupling control technology is introduced. The design method of multi joint synchronous high order sliding mode controller is designed to reduce the influence of track tracking error accumulated between adjacent joints to the performance of the system, and ensure the coordinated operation of multiple joints. The stability of the system is analyzed with Lyapunov theory and robust control of multiple joints is realized. (4) considering the human-computer of a manned robot In the case of the interference of the terrain and the posture of the human body, a dynamic stability analysis method suitable for the manned robot is proposed. On the basis of the dynamic stability analysis, a stability control strategy for the walking robot is proposed, which adjusts the expected track of the linkage in real time according to the stability index. The robot can adjust the body posture and maintain the body level in time when the robot is disturbed. Lyapunov theory is used to analyze the stability of the closed loop control system. It is proved that the stability angle error and the speed tracking error are convergent under the designed controller. (5) the joint simulation platform of the auxiliary robot is established, the virtual prototype is set up in the ADAMS and the MA is designed. The joint simulation platform of TLAB and ADAMS, taking the virtual prototype as the controlled object, uses the single joint control algorithm, the multi joint coordination control algorithm and the motion stability control algorithm respectively to the controlled object, and verifies the effectiveness of the proposed algorithm.
【学位授予单位】：南京理工大学
【学位级别】：博士
【学位授予年份】：2016
【分类号】：TP242

【参考文献】