發(fā)布時間：2018-05-15 07:57

  本文選題：移動服務機器人 + 移動機械臂��； 參考：《哈爾濱工業(yè)大學》2017年碩士論文

【摘要】：隨著機器人技術和社會經濟的發(fā)展,移動服務機器人正在被國內外研究人員廣泛的研究,而面向室內環(huán)境的移動機械臂因其良好的穩(wěn)定性和環(huán)境適應性已成為研究熱點。本文基于ROS(Robot Operating System),在Gazebo中搭建了用于室內環(huán)境中的移動機械臂系統(tǒng),采用矢量法推導了其運動學方程,并提出了相應的自適應分層規(guī)劃方法,在Gazebo仿真環(huán)境中進行了靜態(tài)和動態(tài)兩種目標抓取實驗。針對室內環(huán)境中的抓取問題,結合移動機械臂實際的抓取需要,設計了一個自適應二指手。該自適應二指手采用了欠驅動的三關節(jié)手指結構,而手指的各關節(jié)可以轉動,完成對目標的自適應抓取。同時為了更好地對手爪進行控制,建立了欠驅動手爪的動力學模型,對其動態(tài)靜力學進行了分析,得到了輸入力和接觸力之間的關系。欠驅動手爪可以采用捏取和握取兩種方式進行抓取,通過抓取不同形狀的目標,驗證其抓取的穩(wěn)定性。完成了移動機械臂的系統(tǒng)搭建后,開展了移動機械臂的抓取規(guī)劃研究�；谝苿訖C械臂自身的特點,采用了矢量法對其運動學進行了分析,并建立了移動機械臂的運動學模型�？紤]到移動機械臂運動的效率的問題,提出了自適應分層規(guī)劃的方法,其中移動機械臂的規(guī)劃劃分為全局規(guī)劃層和局部規(guī)劃層,將移動平臺的導航規(guī)劃劃分為全局規(guī)劃和局部規(guī)劃兩部分,而機械臂的空間運動規(guī)劃分為靜態(tài)和動態(tài)分別進行分析,同時將提出的分層規(guī)劃的算法在MATLAB中進行有效性驗證。在上述工作的基礎上,完成了移動機械臂在Gazebo中的移動平臺的導航控制器和機械臂的空間運動控制器,以及其他控制參數(shù)的設定。采用了ROS實現(xiàn)對Gazebo下移動機械臂的運動控制,在仿真試驗中,運用本文所述的自適應分層規(guī)劃方法,成功的完成了移動機械臂靜態(tài)和動態(tài)兩種抓取。同時表明本文提出的機械臂和移動平臺協(xié)同規(guī)劃方法適用于室內環(huán)境中面向多目標的抓取任務。
[Abstract]:With the development of robot technology and social economy, mobile service robot has been widely studied by researchers at home and abroad, and mobile manipulator for indoor environment has become a research hotspot because of its good stability and environmental adaptability. Based on ROS(Robot Operating system, a mobile manipulator system for indoor environment is built in Gazebo. The kinematics equation is derived by vector method, and the corresponding adaptive hierarchical planning method is proposed. Static and dynamic target capture experiments are carried out in Gazebo simulation environment. An adaptive two-fingered hand is designed to solve the grab problem in indoor environment. The adaptive two-fingered hand adopts a three-joint finger structure with underactuation, and each joint of the finger can be rotated to achieve the adaptive grasp of the target. At the same time, in order to control the opponent's claw better, a dynamic model of underactuated claw is established, and its dynamic statics is analyzed, and the relationship between input force and contact force is obtained. The underactuated claws can be grasped by two ways, pinching and gripping, and the stability of grab can be verified by grasping different shapes of objects. After completing the system construction of the mobile manipulator, the grab planning research of the mobile manipulator is carried out. Based on the characteristics of mobile manipulator, the kinematics of mobile manipulator is analyzed by vector method, and the kinematics model of mobile manipulator is established. Considering the efficiency of mobile manipulator motion, an adaptive hierarchical planning method is proposed, in which the planning of mobile manipulator is divided into global planning layer and local planning layer. The navigation planning of mobile platform is divided into two parts: global planning and local planning, while the spatial motion planning of manipulator is divided into static and dynamic analysis, and the proposed hierarchical planning algorithm is validated in MATLAB. On the basis of the above work, the navigation controller of the mobile platform and the space motion controller of the manipulator in Gazebo are completed, as well as the setting of other control parameters. The motion control of mobile manipulator under Gazebo is realized by ROS. In the simulation experiment, the static and dynamic grasping of mobile manipulator is accomplished successfully by using the adaptive hierarchical planning method described in this paper. It also shows that the cooperative planning method of manipulator and mobile platform proposed in this paper is suitable for multi-target oriented capture tasks in indoor environment.
【學位授予單位】：哈爾濱工業(yè)大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP241

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本文編號：1891627