發(fā)布時間：2018-05-01 16:20

  本文選題：磁吸附輪式機器人 + 二維運動控制�。� 參考：《深圳大學》2017年碩士論文

【摘要】：鋼管作為工業(yè)中的基礎(chǔ)設(shè)備,在工業(yè)建設(shè)中大量使用,但由于這些鋼管的安裝環(huán)境往往較為苛刻,鋼管焊縫被腐蝕較強,同時在鋼管的焊接過程中也會出現(xiàn)缺陷,因此定期檢查這些鋼管焊縫成為保障運輸安全的重要環(huán)節(jié)。若人工操作鋼管焊縫檢測設(shè)備,往往會由于檢測工程量大且繁瑣而存在不準確性,且有時人為無法檢測,而裝有鋼管焊縫檢測探頭的機器人能夠輕松進入各種嚴苛環(huán)境中對管道焊縫進行檢測,這具有省時,省力,準確性高等優(yōu)點。因此研究裝有鋼管焊縫檢測探頭的機器人在鋼管上的運動控制對解決現(xiàn)實中繁多且重要的鋼管焊縫檢測工作具有重大的實際意義。本文依據(jù)“由一般到特殊”的研究方法,先研究磁吸附輪式機器人在一般二維平面上的運動控制,然后以此為基礎(chǔ)研究其在三維鋼管圓柱面上的運動控制。首先,本文對該磁吸附輪式機器人的運動機構(gòu)進行介紹,然后根據(jù)工業(yè)應用對機器人運動控制的要求,對磁吸附輪式機器人提出相應的工作環(huán)境約束、運動控制目標、研究內(nèi)容和研究方法。然后,研究磁吸附輪式機器人在一般二維平面上的運動控制。先根據(jù)工作約束對該運動控制提出了學術(shù)假設(shè),在假設(shè)的基礎(chǔ)上首先討論視覺傳感器在二維平面上的數(shù)學反饋模型,之后分別討論了機器人在二維平面上兩種運動方式的運動學模型,并根據(jù)穩(wěn)定性判據(jù)分別設(shè)計了相應的控制策略。然后分別結(jié)合機器人兩個運動控制系統(tǒng)中的視覺傳感器二維反饋模型、運動學模型和控制策略,利用Matlab軟件進行仿真實驗,實驗結(jié)果均達到了期望實驗目標。在有限的對比條件下,選取了仿真結(jié)果較好的一種運動方式作為機器人在三維鋼管圓柱面上的運動方式。最后,研究磁吸附輪式機器人在三維鋼管圓柱面上的運動控制。首先借助機器人上某一點的三維空間坐標和歐拉角對機器人的三維空間位姿進行了描述,根據(jù)工作約束對該運動控制提出了學術(shù)假設(shè),之后在假設(shè)的基礎(chǔ)上討論視覺傳感器在三維空間中的數(shù)學反饋模型,推導單磁輪在鋼管圓柱面的運動學模型,并以此結(jié)合磁吸附輪式機器人在二維平面上的運動分析,對磁吸附輪式機器人在三維鋼管圓柱面上的運動進行建模,并設(shè)計了相應的控制策略。然后對單磁輪在鋼管圓柱面上的三維運動學模型和磁吸附輪式機器人在鋼管圓柱面上的三維運動學模型進行仿真實驗,驗證了模型的有效性。最后結(jié)合磁吸附輪式機器人在鋼管圓柱面上的三維運動控制系統(tǒng)中的視覺傳感器三維反饋模型、機器人三維運動學模型和控制策略進行仿真實驗,實驗結(jié)果達到了期望實驗目標。
[Abstract]:As the basic equipment in industry, steel pipe is widely used in industrial construction. However, because of the harsh installation environment of these pipes, the weld of steel pipe is corroded strongly, at the same time, there will be defects in the welding process of steel pipe. Therefore, regular inspection of these steel pipe welds has become an important link to ensure transportation safety. If manual operation of steel pipe weld inspection equipment, often because of the large amount of inspection and cumbersome, there is inaccuracy, and sometimes artificial can not be detected, The robot equipped with steel pipe weld detection probe can easily enter all kinds of harsh environment to detect pipe weld, which has the advantages of time saving, labor saving, high accuracy and so on. Therefore, it is of great practical significance to study the robot motion control on the steel pipe with a probe for detecting the weld seam of steel pipe, which is of great practical significance to solve the problem of numerous and important steel pipe weld detection in reality. Based on the method of "from general to special", this paper first studies the motion control of magnetically adsorbed wheeled robot on the general two-dimensional plane, and then studies its motion control on the three-dimensional cylindrical surface of steel pipe. First of all, this paper introduces the motion mechanism of the magnetic adsorption wheel robot, then according to the requirements of industrial application to the robot motion control, the corresponding working environment constraints and motion control objectives are proposed for the magnetic adsorption wheel robot. Research contents and methods. Then, the motion control of magnetic adsorption wheeled robot in general two-dimensional plane is studied. First of all, according to the work constraints, the academic hypothesis of the motion control is proposed. On the basis of the hypothesis, the mathematical feedback model of the vision sensor on the two-dimensional plane is discussed. Then, the kinematics models of two kinds of motion modes in two-dimensional plane are discussed, and the corresponding control strategies are designed according to the stability criterion. Then the two dimensional feedback model kinematics model and control strategy of the vision sensor in the two motion control systems of the robot are combined respectively and the simulation experiments are carried out by using Matlab software. The experimental results reach the desired experimental goal. Under the condition of finite contrast, a better motion mode is selected as the motion mode of the robot on the three-dimensional cylindrical steel pipe surface. Finally, the motion control of the magnetic adsorption wheel robot on the three-dimensional cylindrical surface of steel pipe is studied. Firstly, the three-dimensional position and pose of the robot are described with the help of the three-dimensional coordinates and Euler angles of a certain point on the robot, and the academic hypothesis of the motion control is put forward according to the working constraints. Then the mathematical feedback model of the vision sensor in three-dimensional space is discussed, and the kinematics model of the single magnetic wheel on the cylindrical surface of the steel tube is deduced, and the motion analysis of the magnetic adsorption wheeled robot on the two-dimensional plane is combined with this model. The motion of the magnetic adsorption wheel robot on the cylindrical surface of three dimensional steel pipe is modeled and the corresponding control strategy is designed. Then the three dimensional kinematics model of the single magnetic wheel on the cylindrical surface of steel tube and the 3D kinematic model of the magnetic adsorption wheel robot on the cylindrical surface of the steel tube are simulated and the validity of the model is verified. Finally, the 3D feedback model of the vision sensor, the 3D kinematics model and the control strategy of the robot in the three-dimensional motion control system of the magnetic adsorption wheel robot on the cylindrical surface of steel pipe are simulated. The experimental results reach the desired experimental goal.
【學位授予單位】：深圳大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP242

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本文編號：1830152