本文關(guān)鍵詞：五自由度全方位移動機器人的運動控制研究　出處：《沈陽航空航天大學(xué)》2016年碩士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： 全方位 MY輪 移動機器人 控制系統(tǒng) 軌跡跟蹤

【摘要】：本文針對具有全方位特性的平面移動機器人,研究了其全方位特性的獲得方法,全方位底盤結(jié)構(gòu)差異性對運動的影響。并根據(jù)分析結(jié)果設(shè)計五自由度全方位移動機器人(5DOF-OMR),研究了其運動特點和控制方法,并通過仿真與實地實驗對控制方法加以驗證與演示。首先對全方位特性進行概述,說明全方位特性的獲得方法。針對平面移動機器人,總結(jié)出全方位特性載體的兩種獲得方法,即增加自由度法和保留轉(zhuǎn)化自由度法。并根據(jù)該理論總結(jié)出MY系列全方位輪的設(shè)計依據(jù)并驗證運動轉(zhuǎn)化的實現(xiàn),得出串聯(lián)輪運動轉(zhuǎn)化的不完全性,并開發(fā)出并聯(lián)雙球冠差動式全方位輪以解決該問題。其次,對全方位機器人的運動特性進行研究。針對不同底盤結(jié)構(gòu)分別建立并比較運動學(xué)模型的優(yōu)缺點,通過仿真得出并聯(lián)模型軌跡跟蹤誤差較小,具有結(jié)構(gòu)上的優(yōu)越性。進而選取并聯(lián)模型,對其速度各向異性以及速度同向異性加以分析,分析反映出機器人平移時速度分布特點以及機器人自轉(zhuǎn)并勻速直線前進時受到速度自轉(zhuǎn)壓縮現(xiàn)象。為進一步闡明速度自轉(zhuǎn)壓縮現(xiàn)象,選擇對圓軌跡跟蹤進行規(guī)劃,并推導(dǎo)出對應(yīng)不同半徑圓軌跡時的對應(yīng)規(guī)劃方案。建立了升降平臺的運動學(xué)模型,為今后進一步規(guī)劃復(fù)雜軌跡打下基礎(chǔ)。之后介紹了五自由度全方位移動機器人的控制系統(tǒng),包括控制系統(tǒng)整體構(gòu)架以及控制系統(tǒng)各個子模塊的具體構(gòu)成,并基于該控制系統(tǒng),對軌跡跟蹤控制方法進行了研究,提出了雙曲線正切函數(shù)PD軌跡跟蹤控制器,并通過仿真實驗驗證了控制器在減小初始加速度上具有鎮(zhèn)定壓縮作用,可以有效避免因加速度過大導(dǎo)致的打滑現(xiàn)象,并通過實地實驗進行演示,對外部環(huán)境以及內(nèi)部本身因素的綜合影響加以分析,提出了改進措施。最后,進行了巡線裝配模擬實驗。
[Abstract]:In this paper, the method of obtaining omnidirectional characteristics of planar mobile robot with omnidirectional characteristics is studied. According to the analysis results, a five-degree-of-freedom omnidirectional mobile robot is designed, and its motion characteristics and control methods are studied. The control method is verified and demonstrated by simulation and field experiments. Firstly, the omnidirectional characteristic is summarized, and the method of obtaining the omnidirectional characteristic is explained, aiming at the planar mobile robot. Two methods of obtaining omnidirectional characteristic carrier are summarized, that is, increasing degree of freedom method and retaining transforming degree of freedom method. According to this theory, the design basis of my series omnidirectional wheel is summarized and the realization of motion transformation is verified. The incompleteness of the series wheel motion transformation is obtained, and the parallel double ball crown differential omni-directional wheel is developed to solve the problem. The kinematic characteristics of omni-directional robot are studied. According to the advantages and disadvantages of kinematics models established and compared with different chassis structures, the simulation results show that the trajectory tracking error of parallel model is small. The parallel model is selected to analyze the velocity anisotropy and velocity homotropy. The analysis reflects the characteristics of velocity distribution when the robot is moving in translation and the phenomenon that the robot is subjected to speed rotation compression when it rotates and advances in a straight line with uniform speed. In order to further clarify the phenomenon of velocity rotation compression. The program of circle trajectory tracking is selected, and the corresponding planning scheme for different radius circle trajectory is deduced, and the kinematics model of lifting platform is established. After that, the control system of five degrees of freedom omnidirectional mobile robot is introduced, including the whole structure of the control system and the specific composition of each sub-module of the control system. Based on the control system, the trajectory tracking control method is studied, and a hyperbolic tangent PD trajectory tracking controller is proposed. The simulation results show that the controller can stabilize and compress the initial acceleration, which can effectively avoid the slip caused by excessive acceleration, and demonstrate it through field experiments. The comprehensive effects of external environment and internal factors are analyzed, and the improvement measures are put forward. Finally, the assembly simulation experiment is carried out.
【學(xué)位授予單位】：沈陽航空航天大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2016
【分類號】：TP242

【參考文獻】

相關(guān)期刊論文 前10條

1 葉長龍;郭豹;馬國靜;馬書根;;差動式全方位輪的結(jié)構(gòu)設(shè)計與強度分析[J];機器人;2014年04期

2 葉長龍;李懷勇;馬書根;倪會超;;具有MY輪的全方位移動機器人運動學(xué)研究[J];機器人;2012年02期

3 葉長龍;馬書根;回麗;;一種全方位移動機器人[J];中國科學(xué):信息科學(xué);2011年02期

4 李明河;王偉;王健;王偉;王殿君;薛龍;;一種全方位移動機器人的系統(tǒng)設(shè)計[J];安徽工業(yè)大學(xué)學(xué)報(自然科學(xué)版);2011年01期

5 王一治;錢晉武;常德功;;不平地面上Mecanum輪全方位系統(tǒng)運動學(xué)通用模型[J];機械工程學(xué)報;2009年09期

6 王一治;常德功;;Mecanum四輪全方位系統(tǒng)的運動性能分析及結(jié)構(gòu)形式優(yōu)選[J];機械工程學(xué)報;2009年05期

7 冷春濤;曹其新;;四輪全方位移動機器人各向相異性研究[J];智能系統(tǒng)學(xué)報;2007年03期

8 王鵬飛;孫立寧;黃博;;地面移動機器人系統(tǒng)的研究現(xiàn)狀與關(guān)鍵技術(shù)[J];機械設(shè)計;2006年07期

9 戰(zhàn)強,賈川,馬曉輝,陳明;一種球形移動機器人的運動性能分析[J];北京航空航天大學(xué)學(xué)報;2005年07期

10 鄧旭s，

本文編號：1381775