本文選題：遙操縱　切入點：冗余自由度　出處：《吉林大學(xué)》2016年碩士論文　論文類型：學(xué)位論文

【摘要】：遙操縱冗余自由度機器人從手的“自運動”特性讓遙操縱機器人系統(tǒng)具有靈活性好、避障能力強等優(yōu)點,極大地提高遙操縱機器人系統(tǒng)的靈活性和工作效率。因此研究遙操縱冗余自由度機器人系統(tǒng)具有重要的理論意義和實際應(yīng)用價值。本文結(jié)合國家自然科學(xué)基金項目“遙操縱多自由度電液伺服機械手力反饋控制策略”(項目編號:50975118)和高等學(xué)校博士學(xué)科點專項科研基金資助課題“遙操縱電液欠驅(qū)動冗余自由度機械手雙向伺服控制策略”(課題編號:20130061110009),研究提高遙操縱冗余自由度機器人系統(tǒng)雙向伺服控制力反饋性能的方法。本文以四自由度主-從異構(gòu)遙操縱冗余自由度機器人系統(tǒng)為研究對象,首先研究從端冗余自由度機械手的正逆解和動力學(xué)特性,包括采用D-H法進行運動學(xué)正解、基于阻尼偽逆和多目標(biāo)優(yōu)化的梯度投影法運動學(xué)逆解、Lagrange法動力學(xué)數(shù)學(xué)建模、工作空間計算以及奇異位形分析等。其次建立主-從電液伺服系統(tǒng)的數(shù)學(xué)模型,分析電液位置伺服系統(tǒng)的穩(wěn)定性;針對Ziegler-Nichols方法依賴經(jīng)驗、實驗以及實驗現(xiàn)場不確定因素給系統(tǒng)帶來影響的缺陷,采用參數(shù)空間圖解法設(shè)計PD控制器,改善電液伺服系統(tǒng)的動態(tài)響應(yīng)特性。針對力反饋效果不充分以及易對操作者產(chǎn)生沖擊的問題,基于位置空間控制策略提出變增益位置空間雙向伺服力反饋控制策略,并通過在空載、受到彈簧負(fù)載和剛性負(fù)載等情況下的仿真試驗驗證所提控制策略的有效性。仿真結(jié)果表明,變增益位置空間雙向伺服力反饋控制策略可有效提高力反饋的靈敏度和減小反饋力對操作者的沖擊。從而使操作者感知所接觸物體的軟硬程度,獲得較好的力反饋效果,實現(xiàn)遙操縱冗余自由度機器人系統(tǒng)的力覺雙向伺服控制,提高了遙操縱系統(tǒng)的透明性。
[Abstract]:The "self-motion" characteristic of redundant manipulators with redundant degrees of freedom makes the remote control robot system have the advantages of good flexibility and strong ability to avoid obstacles. It greatly improves the flexibility and working efficiency of the telecontrol robot system. Therefore, it is of great theoretical significance and practical application value to study the telecontrol redundant degree of freedom robot system. This paper combines with the National Natural Science Foundation of China. "Multi-DOF Electro-hydraulic Servo manipulator Force feedback Control Strategy" (Project No.: 50975118) and "Bidirectional Servo system of redundant manipulators with redundant degrees of Freedom under actuated by Electro-Hydraulics" supported by the Special Research Fund of doctoral subject points in Colleges and Universities. Control Strategy "(subject number 2013006110009), the method to improve the feedback performance of bidirectional servo control force of redundant robot system with redundant remote control is studied. The research object of this paper is the four-degree-master-slave redundant robot system with different degrees of freedom. Firstly, the forward and inverse solutions and dynamics characteristics of redundant manipulators with redundant degrees of freedom at the end of the manipulator are studied, including the kinematics forward solution using D-H method, the kinematic inverse solution of gradient projection method based on damping pseudo-inverse and multi-objective optimization, and the mathematical modeling of the Lagrange method based on the gradient projection method. Secondly, the mathematical model of the master-slave electro-hydraulic servo system is established to analyze the stability of the electro-hydraulic position servo system, and the Ziegler-Nichols method depends on the experience. The PD controller is designed by parametric space diagram method. In order to improve the dynamic response characteristics of electro-hydraulic servo system, a variable gain position space bi-directional servo force feedback control strategy is proposed based on the position space control strategy, aiming at the problem of insufficient force feedback effect and easy impact on the operator. The effectiveness of the proposed control strategy is verified by simulation experiments under the conditions of no load, spring load and rigid load. The simulation results show that the proposed control strategy is effective. The variable gain position space bi-directional servo force feedback control strategy can effectively improve the sensitivity of force feedback and reduce the impact of feedback force on the operator, so that the operator can perceive the soft and hard degree of the object in contact and obtain a better force feedback effect. The force-sensing bi-directional servo control of the redundant robot system is realized, and the transparency of the remote control system is improved.
【學(xué)位授予單位】：吉林大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2016
【分類號】：TP242

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