本文關(guān)鍵詞：五自由度全方位移動(dòng)機(jī)器人的運(yùn)動(dòng)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(dòng)機(jī)器人 控制系統(tǒng) 軌跡跟蹤

【摘要】：本文針對(duì)具有全方位特性的平面移動(dòng)機(jī)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(duì)運(yùn)動(dòng)的影響。并根據(jù)分析結(jié)果設(shè)計(jì)五自由度全方位移動(dòng)機(jī)器人(5DOF-OMR),研究了其運(yùn)動(dòng)特點(diǎn)和控制方法,并通過仿真與實(shí)地實(shí)驗(yàn)對(duì)控制方法加以驗(yàn)證與演示。首先對(duì)全方位特性進(jìn)行概述,說明全方位特性的獲得方法。針對(duì)平面移動(dòng)機(jī)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(jì)依據(jù)并驗(yàn)證運(yùn)動(dòng)轉(zhuǎn)化的實(shí)現(xiàn),得出串聯(lián)輪運(yùn)動(dòng)轉(zhuǎn)化的不完全性,并開發(fā)出并聯(lián)雙球冠差動(dòng)式全方位輪以解決該問題。其次,對(duì)全方位機(jī)器人的運(yùn)動(dòng)特性進(jìn)行研究。針對(duì)不同底盤結(jié)構(gòu)分別建立并比較運(yùn)動(dòng)學(xué)模型的優(yōu)缺點(diǎn),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(jìn)而選取并聯(lián)模型,對(duì)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(jī)器人平移時(shí)速度分布特點(diǎn)以及機(jī)器人自轉(zhuǎn)并勻速直線前進(jìn)時(shí)受到速度自轉(zhuǎn)壓縮現(xiàn)象。為進(jìn)一步闡明速度自轉(zhuǎn)壓縮現(xiàn)象,選擇對(duì)圓軌跡跟蹤進(jìn)行規(guī)劃,并推導(dǎo)出對(duì)應(yīng)不同半徑圓軌跡時(shí)的對(duì)應(yīng)規(guī)劃方案。建立了升降平臺(tái)的運(yùn)動(dòng)學(xué)模型,為今后進(jìn)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(dòng)機(jī)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(gè)子模塊的具體構(gòu)成,并基于該控制系統(tǒng),對(duì)軌跡跟蹤控制方法進(jìn)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(shí)驗(yàn)驗(yàn)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(shí)地實(shí)驗(yàn)進(jìn)行演示,對(duì)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(jìn)措施。最后,進(jìn)行了巡線裝配模擬實(shí)驗(yàn)。
[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(jí)別】：碩士
【學(xué)位授予年份】：2016
【分類號(hào)】：TP242

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