本文選題：遙操縱　切入點：冗余　出處：《吉林大學》2017年碩士論文　論文類型：學位論文

【摘要】：冗余機械手適合在非結構化環(huán)境中工作,其在遙操縱系統(tǒng)中得到了廣泛的應用,特別是在作業(yè)環(huán)境復雜的遠程醫(yī)療系統(tǒng)、太空遙操縱系統(tǒng)和深海遙操縱系統(tǒng)等。因此研究遙操縱冗余機械手系統(tǒng)具有重大意義。本文結合2014年度高等學校博士點科學專項科研基金“遙操縱電液欠驅動冗余自由度機械手系統(tǒng)雙向伺服控制策略”(20130061110009),研究冗余機器人避障和存在時延時力反饋控制性能提高的方法。本文首先用DH坐標法求解冗余從機械手正運動學方程,針對機械手末端軌跡存在障礙物的情況,應用基于主從任務轉化閉環(huán)控制避障方法,實現冗余從機械手逆運動學方程的推導和末端軌跡存在障礙物時的有效避障,提高末端軌跡跟蹤精度,應用拉格朗日法推導動力學方程;其次針對電液位置伺服系統(tǒng)的非線性和不確定性,設計應用灰色預測控制的遺傳算法在線自適應參數整定PD控制器,改善系統(tǒng)的動態(tài)性能、抗干擾能力和跟蹤精度;最后針對存在時延時因操作者感受到滯后的反饋力而容易引起錯誤操作的問題,通過在主端控制器中加入從端距離信息引入虛擬反饋力模型,改進基于位置約束空間法的位差反饋型雙向伺服力反饋控制策略,使操作者不僅能提前感受到反饋力,還能感受到反饋力的大小和方向,提高遙操縱系統(tǒng)的操作性能和透明性,通過仿真驗證所提方法是有效的。
[Abstract]:Redundant manipulators are suitable for working in unstructured environments, and have been widely used in telecontrol systems, especially in telemedicine systems with complex operating environments. Space telecontrol system and deep-sea telecontrol system, etc. Therefore, it is of great significance to study the telecontrol redundant manipulator system. This paper combines with the 2014 doctoral Science Research Foundation of Colleges and Universities, "telecontrol electro-hydraulic underactuation redundancy". The bi-directional servo control strategy of redundant manipulator system "20130061110009", this paper studies the method of avoiding obstacles and improving the performance of time-delay force feedback control in redundant robot. In this paper, DH coordinate method is used to solve the forward kinematics equation of redundant slave manipulator. In view of the existence of obstacles at the end of manipulator, the inverse kinematics equation of redundant slave manipulator and the effective obstacle avoidance when there are obstacles in the terminal trajectory are derived by using the closed-loop control method based on master-slave task transformation. In order to improve the precision of terminal trajectory tracking, the Lagrangian method is used to deduce the dynamic equation. Secondly, aiming at the nonlinearity and uncertainty of electro-hydraulic position servo system, an on-line adaptive parameter tuning PD controller based on genetic algorithm based on grey predictive control is designed. Improve the dynamic performance, anti-jamming ability and tracking accuracy of the system. Finally, the delay is easy to cause the error operation because the operator feels the feedback force of lag. By introducing the virtual feedback force model into the main terminal controller, the position difference feedback feedback control strategy based on the position constraint space method is improved, so that the operator can not only feel the feedback force in advance. The size and direction of the feedback force can also be felt, and the operation performance and transparency of the remote control system can be improved. The simulation results show that the proposed method is effective.
【學位授予單位】：吉林大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP241

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