本文選題：機(jī)械臂 + 避障　； 參考：《華北電力大學(xué)》2017年碩士論文

【摘要】：電力設(shè)備X射線移動(dòng)平臺包含末端安裝有X射線機(jī)的機(jī)械臂,機(jī)械臂安裝在移動(dòng)機(jī)器人上,利用移動(dòng)平臺來進(jìn)行X射線機(jī)的位姿調(diào)整,提高檢測的工作效率。由于變電站的GIS設(shè)備具有無規(guī)則性,機(jī)械臂在運(yùn)動(dòng)過程中需避開GIS設(shè)備以免發(fā)生損傷。本文主要研究機(jī)械臂末端在周圍環(huán)境有障礙物時(shí)能夠自主搜索出一條從初始位置到目標(biāo)位置的規(guī)劃路徑,并且可以避開環(huán)境中的障礙物。機(jī)械臂路徑規(guī)劃研究主要有三個(gè)層次,首先需要機(jī)械臂的末端能夠從初始位置運(yùn)動(dòng)到設(shè)定的目標(biāo)位置;然后要求機(jī)械臂能夠在此運(yùn)動(dòng)的過程中避開周圍環(huán)境中的障礙物;最后要對規(guī)劃出來的路徑進(jìn)行優(yōu)化,使其在所有可能存在的路徑中處于最優(yōu)的選擇。本文在研究的對象為UR5機(jī)械臂,通過電力設(shè)備X射線無損檢測移動(dòng)平臺的真實(shí)工作環(huán)境進(jìn)行分析的基礎(chǔ)上,對UR5機(jī)械臂進(jìn)行了相關(guān)機(jī)械臂避障路徑規(guī)劃的研究,主要包括:對UR5機(jī)械臂進(jìn)行運(yùn)動(dòng)學(xué)建模,進(jìn)行機(jī)械臂的運(yùn)動(dòng)學(xué)正解和運(yùn)動(dòng)學(xué)逆解的求解;研究傳統(tǒng)人工勢場法存在的缺點(diǎn)并研究問題的解決辦法,介紹幾種常用的碰撞檢測算法并分析各種碰撞檢測算法的優(yōu)缺點(diǎn),研究一種新的圓柱碰撞檢測算法;運(yùn)用改進(jìn)的人工勢場法和圓柱碰撞檢測算法進(jìn)行機(jī)械臂避障路徑規(guī)劃,并將規(guī)劃好的避障路徑導(dǎo)入U(xiǎn)R5機(jī)械臂模擬器中得到相應(yīng)控制文件,將控制文件導(dǎo)入機(jī)械臂控制版面對機(jī)械臂進(jìn)行一個(gè)避障運(yùn)動(dòng)控制。本文最后對實(shí)驗(yàn)室里的UR5機(jī)械臂進(jìn)行了仿真實(shí)驗(yàn),實(shí)驗(yàn)結(jié)果表明,運(yùn)用改進(jìn)的人工勢場法和圓柱碰撞檢測之后可以很好的避開周圍環(huán)境中的障礙物,達(dá)到了項(xiàng)目所需要的功能。
[Abstract]:The X ray moving platform of power equipment consists of a mechanical arm with an X ray machine at the end. The robot arm is mounted on a mobile robot. The position and pose adjustment of the X ray machine is carried out by using the mobile platform to improve the efficiency of the detection. Due to the irregular nature of GIS equipment in substation, the mechanical arm should avoid the GIS equipment in the process of movement to avoid damage. In this paper, it is studied that the end of the manipulator can search for a planned path from the initial position to the target position independently when there are obstacles in the surrounding environment, and can avoid the obstacles in the environment. There are three levels in the path planning of the manipulator. Firstly, it is required that the end of the manipulator can move from the initial position to the target position, and then the manipulator can avoid the obstacles in the surrounding environment. Finally, the planned path should be optimized to make it the best choice among all possible paths. On the basis of analyzing the real working environment of the mobile platform of power equipment X-ray nondestructive testing, this paper studies the obstacle avoidance path planning of UR5 manipulator. The main contents are as follows: the kinematics modeling of UR5 manipulator, the solution of forward kinematics solution and inverse kinematics solution of the manipulator, the study of the shortcomings of the traditional artificial potential field method and the solution of the problem. This paper introduces several commonly used collision detection algorithms, analyzes the advantages and disadvantages of various collision detection algorithms, studies a new cylindrical collision detection algorithm, uses the improved artificial potential field method and the cylindrical collision detection algorithm to plan the obstacle avoidance path of the robot arm. And the planned obstacle avoidance path is imported into the UR5 manipulator simulator to obtain the corresponding control file, and the control file is imported into the manipulator control version to control the obstacle avoidance motion of the manipulator. At the end of this paper, the simulation experiment of UR5 manipulator in the laboratory is carried out. The experimental results show that the improved artificial potential field method and cylindrical collision detection can avoid obstacles in the surrounding environment and achieve the functions required by the project.
【學(xué)位授予單位】：華北電力大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TM507;TP241

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本文編號：2053633