本文選題：軌跡規(guī)劃 + 人工勢(shì)場(chǎng)��； 參考：《浙江理工大學(xué)》2017年碩士論文

【摘要】：機(jī)器人各關(guān)節(jié)的軌跡規(guī)劃是機(jī)器人控制的基礎(chǔ),機(jī)器人軌跡規(guī)劃是根據(jù)機(jī)器人作業(yè)要求,在滿足運(yùn)動(dòng)學(xué)約束情況下使機(jī)器人各個(gè)關(guān)節(jié)能夠快速、平穩(wěn)地依次通過(guò)各位置點(diǎn),進(jìn)而確保機(jī)器人末端執(zhí)行器迅速平穩(wěn)地到達(dá)預(yù)期位置進(jìn)行作業(yè),一方面可以提高機(jī)器人的工作效率,另一方面可以防止因?yàn)闆_擊過(guò)大降低機(jī)器人壽命。為了提高果蔬采摘機(jī)器人的工作效率和減少其在作業(yè)過(guò)程中所受的沖擊,本文提出了基于時(shí)間-沖擊兩個(gè)運(yùn)動(dòng)性能指標(biāo),采用5次B樣條插值函數(shù)進(jìn)行軌跡規(guī)劃,并利用GA算法對(duì)5次B樣條插值軌跡進(jìn)行優(yōu)化,本文的主要內(nèi)容如下:1、根據(jù)果蔬采摘機(jī)器人設(shè)計(jì)參數(shù)利用Creo2.0建立三維虛擬樣機(jī),根據(jù)DH坐標(biāo)理論建立了機(jī)器人的數(shù)學(xué)模型,并根據(jù)DH參數(shù)求得機(jī)器人的運(yùn)動(dòng)方程,同時(shí)詳細(xì)進(jìn)行了機(jī)器人運(yùn)動(dòng)學(xué)反解過(guò)程的推算,驗(yàn)證了運(yùn)動(dòng)方程的正確性。此外根據(jù)DH參數(shù)利用MATLAB機(jī)器人工具箱建立了機(jī)器人的運(yùn)動(dòng)仿真模型,研究了機(jī)器人在工作空間運(yùn)動(dòng)情況。2、基于人工勢(shì)場(chǎng)的思想將機(jī)器人的運(yùn)動(dòng)空間抽象成虛擬勢(shì)場(chǎng),根據(jù)合勢(shì)場(chǎng)的數(shù)學(xué)模型,設(shè)計(jì)了機(jī)器人在動(dòng)態(tài)環(huán)境作業(yè)時(shí)的避障算法,并利用MATLAB GUI設(shè)計(jì)了路徑初始點(diǎn)、路徑障礙及目標(biāo)點(diǎn)的虛擬仿真軟件,介紹了仿真軟件的使用,通過(guò)構(gòu)造單一障礙和多障礙虛擬環(huán)境進(jìn)行仿真實(shí)驗(yàn),實(shí)驗(yàn)結(jié)果表明機(jī)器人可以有效地避開(kāi)工作環(huán)境中的障礙,證明了避障算法的正確性。3、研究了五次B樣條的構(gòu)造方法,并利用機(jī)器人工具箱函數(shù)對(duì)比分析了五次B樣條和七次樣條插值軌跡的異同點(diǎn);根據(jù)機(jī)器人運(yùn)動(dòng)過(guò)程中所必須經(jīng)過(guò)的位置點(diǎn),建立關(guān)于時(shí)間-沖擊的目標(biāo)函數(shù),利用GA算法獲得優(yōu)化后五次B樣條插值軌跡,并利用MATLAB仿真出機(jī)器人在優(yōu)化之后運(yùn)動(dòng)軌跡,與前面非優(yōu)化軌跡相比,優(yōu)化之后的運(yùn)動(dòng)軌跡縮短了6.62s,并且各個(gè)關(guān)節(jié)在運(yùn)動(dòng)過(guò)程中所受的沖擊也得到明顯減小。
[Abstract]:The trajectory planning of robot joints is the basis of robot control. According to the requirements of robot operation, robot trajectory planning enables each joint of robot to pass through each position point quickly and smoothly under the condition of satisfying kinematics constraints. In order to ensure that the robot end actuators can reach the desired position quickly and smoothly, on the one hand, it can improve the robot's working efficiency, on the other hand, it can prevent the robot from reducing the robot's life because the impact is too big. In order to improve the working efficiency of the fruit and vegetable picking robot and reduce the impact of the robot during the operation, this paper presents two motion performance indexes based on time-impact, and adopts the B-spline interpolation function of 5 times to carry out trajectory planning. The interpolation locus of B-spline is optimized by GA algorithm. The main contents of this paper are as follows: 1. According to the design parameters of fruit and vegetable picking robot, the 3D virtual prototype is built by Creo2.0, and the mathematical model of robot is established according to DH coordinate theory. The kinematic equation of the robot is obtained according to the DH parameters, and the inverse kinematic solution of the robot is calculated in detail, which verifies the correctness of the equation. In addition, according to DH parameters, the robot motion simulation model is established by using MATLAB robot toolbox, and the robot motion in workspace is studied. Based on the idea of artificial potential field, the robot motion space is abstracted into virtual potential field. According to the mathematical model of potential field, the obstacle avoidance algorithm of robot in dynamic environment is designed, and the virtual simulation software of path initial point, path obstacle and target point is designed by MATLAB GUI, and the use of simulation software is introduced. By constructing a single obstacle and multi-obstacle virtual environment, the simulation results show that the robot can effectively avoid the obstacles in the working environment, and prove the correctness of the obstacle avoidance algorithm. The method of constructing the quintic B-spline is studied. The similarities and differences of the interpolating trajectories of the quintic B-spline and the cubic spline are analyzed by using the robot toolbox function, and the objective function about time-impact is established according to the position points that the robot must pass through in the course of motion. The fifth B-spline interpolation trajectory is obtained by GA algorithm, and the motion trajectory of the robot after optimization is simulated by MATLAB, which is compared with the previous non-optimal trajectory. After optimization, the motion trajectory is shortened by 6.62 s, and the impact of each joint during the motion process is obviously reduced.
【學(xué)位授予單位】：浙江理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242

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