本文選題：機(jī)器人　切入點(diǎn)：嵌入式系統(tǒng)　出處：《江南大學(xué)》2012年碩士論文

【摘要】：機(jī)器人在現(xiàn)代社會(huì)的生產(chǎn)生活的各個(gè)領(lǐng)域正發(fā)揮著越來越重要的作用,其涉及的工作種類也正逐步擴(kuò)大。研究嵌入式機(jī)器人對(duì)于以低成本、數(shù)字化、柔性化等為基本要求的機(jī)器人系統(tǒng)顯得尤為合適,但是目前仍然沒有一套比較完善的嵌入式解決方案。本文以實(shí)際項(xiàng)目機(jī)器人為研究對(duì)象,通過仿真與實(shí)驗(yàn)驗(yàn)證相結(jié)合的方式,在嵌入式系統(tǒng)下對(duì)六自由度機(jī)器人的實(shí)時(shí)逆運(yùn)動(dòng)學(xué)、軌跡規(guī)劃等關(guān)鍵技術(shù)進(jìn)行了深入研究。提出了一套嵌入式系統(tǒng)下機(jī)器人的技術(shù)解決方案。本文分別從以下幾個(gè)方面進(jìn)行了論述: 首先,闡明了機(jī)器人研究的背景及意義,調(diào)研分析了國(guó)內(nèi)外機(jī)器人的應(yīng)用現(xiàn)狀及機(jī)器人技術(shù)的研究現(xiàn)狀,指出工業(yè)機(jī)器人的核心理論與技術(shù)問題,同時(shí)詳細(xì)介紹了嵌入式系統(tǒng)的特點(diǎn)、分類及其在機(jī)器人領(lǐng)域的研究狀況等。 其次簡(jiǎn)要介紹了機(jī)器人正運(yùn)動(dòng)學(xué)的基本知識(shí),建立起運(yùn)動(dòng)學(xué)方程,根據(jù)實(shí)際機(jī)器人求得D-H參數(shù),并根據(jù)D-H參數(shù)在ADAMS與MATLAB下分別建立起仿真模型,便于以后的仿真分析;同時(shí)又進(jìn)行了機(jī)器人的逆運(yùn)動(dòng)學(xué)分析,提出了使用牛頓-拉夫遜逆運(yùn)動(dòng)學(xué)算法用于機(jī)器人系統(tǒng)中的解決方案。 再次對(duì)機(jī)器人軌跡規(guī)劃進(jìn)行了闡述。提出了在關(guān)節(jié)空間中進(jìn)行軌跡規(guī)劃的基本方法,并分別介紹了三次插值、拋物線插值及B樣條插值三種插值方法。重點(diǎn)討論了B樣條插值法,并給出了相應(yīng)的改進(jìn)方法。同時(shí)也討論了蟻群算法和粒子群算法兩種智能算法對(duì)于避障軌跡規(guī)劃的應(yīng)用,也分別給出了改進(jìn)方法。用ADAMS對(duì)軌跡規(guī)劃進(jìn)行了仿真,得出了各關(guān)節(jié)的規(guī)劃后的曲線,方便與實(shí)際運(yùn)行曲線進(jìn)行對(duì)比分析。 最后提出了本系統(tǒng)的總體結(jié)構(gòu),并分別逐一描述了處理器、Qt界面、以太網(wǎng)的控制方式等各個(gè)部分的功能及特點(diǎn)。說明了在現(xiàn)場(chǎng)調(diào)試中相關(guān)操作的操作步驟等。對(duì)前面討論的方法進(jìn)行實(shí)際驗(yàn)證,分析曲線,最終得出結(jié)論。
[Abstract]:Robots are playing a more and more important role in all fields of production and life in modern society, and the kinds of work involved in them are gradually expanding. The flexible robot system is particularly suitable, but there is still no perfect embedded solution. This paper takes the actual project robot as the research object, and combines the simulation and experiment. Real-Time inverse Kinematics of 6-DOF Robot in embedded system, Some key technologies, such as trajectory planning, are studied in depth. A set of technology solutions for robot in embedded system is proposed. The following aspects are discussed in this paper:. First of all, the background and significance of robot research are expounded, the application status of robot and the research status of robot technology at home and abroad are analyzed, and the core theory and technical problems of industrial robot are pointed out. At the same time, the characteristics, classification and research status of embedded system in robot field are introduced in detail. Secondly, the basic knowledge of robot forward kinematics is briefly introduced, and the kinematics equation is established. According to the actual robot, the D-H parameters are obtained. According to D-H parameters, the simulation models are established under ADAMS and MATLAB respectively, which is convenient for future simulation analysis. At the same time, the inverse kinematics analysis of the robot is carried out, and the solution of applying Newton-Raphson inverse kinematics algorithm to the robot system is proposed. The basic method of trajectory planning in joint space is put forward, and the cubic interpolation is introduced respectively. Three interpolation methods, parabola interpolation and B-spline interpolation, are discussed in detail, and the corresponding improved methods are given. At the same time, the application of ant colony algorithm and particle swarm optimization algorithm to obstacle avoidance trajectory planning is also discussed. ADAMS is used to simulate the trajectory planning, and the curve of each joint planning is obtained, which is convenient to compare and analyze with the actual running curve. Finally, the overall structure of the system is presented, and the QT interface of the processor is described one by one. The functions and characteristics of various parts such as the control mode of Ethernet are explained. The operation steps of related operations in the field debugging are explained. The methods discussed above are verified, the curves are analyzed, and the final conclusion is drawn.
【學(xué)位授予單位】：江南大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2012
【分類號(hào)】：TP368.1;TP242

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本文編號(hào)：1658928