【摘要】：隨著國內(nèi)外學(xué)者對機(jī)器人技術(shù)研究的不斷深入和拓展,機(jī)器人應(yīng)用也是越來越廣泛,六自由度機(jī)械手在各個領(lǐng)域也展現(xiàn)出了其重要作用。本文基于六自由度串聯(lián)機(jī)械手研究了在靜態(tài)環(huán)境中機(jī)器人的運(yùn)動控制方法,以采用C++和OpenGL編寫的機(jī)器人仿真控制系統(tǒng)為平臺,驗(yàn)證了機(jī)器人的運(yùn)動學(xué)解算、RRT路徑規(guī)劃等算法。本文的研究內(nèi)容可以分為機(jī)器人運(yùn)動學(xué)分析、機(jī)械手運(yùn)動路徑規(guī)劃和仿真控制系統(tǒng)實(shí)現(xiàn)三部分,各個部分緊密聯(lián)系,承上啟下。主要內(nèi)容如下:(1)機(jī)器人正逆運(yùn)動學(xué)分析:通過建立機(jī)器人運(yùn)動學(xué)模型,利用D-H參數(shù)建立機(jī)器人連桿坐標(biāo)系,進(jìn)行機(jī)器人正逆運(yùn)動學(xué)分析。本文利用坐標(biāo)系之間的變換矩陣,進(jìn)行正運(yùn)動學(xué)求解,得到正運(yùn)動學(xué)的計算結(jié)果,然后采用倍四元數(shù)以及結(jié)式化簡消元的方法計算逆運(yùn)動學(xué)的結(jié)果。最后給出了編程實(shí)現(xiàn)結(jié)果。(2)機(jī)械手運(yùn)動路徑規(guī)劃:路徑規(guī)劃是根據(jù)六自由度機(jī)械手末端執(zhí)行器的初始位置和指定的目的點(diǎn)位置,在空間靜態(tài)環(huán)境中,搜索出一條可行的無碰撞路徑,使機(jī)械手末端能從初始點(diǎn)運(yùn)動到目標(biāo)點(diǎn)。本文首先介紹標(biāo)準(zhǔn)RRT算法,然后引入方向向量改進(jìn)RRT算法,并利用其規(guī)劃從機(jī)械手初始位置到目的點(diǎn)位置的無碰撞路徑。(3)仿真控制系統(tǒng)實(shí)現(xiàn):為了驗(yàn)證前面的運(yùn)動學(xué)分析以及運(yùn)動路徑規(guī)劃的正確性,利用面向?qū)ο蟮腃++語言以及OpenGL編寫了六自由度串聯(lián)機(jī)械手的仿真控制系統(tǒng),在此平臺上實(shí)現(xiàn)坐標(biāo)系的建立、正逆運(yùn)動學(xué)的解算、工作空間的繪制以及運(yùn)動路徑的規(guī)劃等。本文編寫實(shí)現(xiàn)的六自由度串聯(lián)機(jī)械手仿真控制平臺,完全模擬現(xiàn)實(shí)機(jī)械手臂的模型,這種三維仿真系統(tǒng),對機(jī)器人以及控制理論的發(fā)展有一定的參考價值。
[Abstract]:With the deepening and expanding of the research on robot technology, the application of robot is becoming more and more extensive, and the six-degree-of-freedom manipulator is playing an important role in various fields. In this paper, the motion control method of robot in static environment is studied based on six-degree-of-freedom serial manipulator. The robot simulation control system written by C and OpenGL is used as the platform to verify the robot kinematics solution and RRT path planning algorithm. The research content of this paper can be divided into three parts: robot kinematics analysis, robot motion path planning and simulation control system realization. The main contents are as follows: (1) Robots forward and inverse kinematics analysis: by establishing robot kinematics model and using D-H parameter to establish robot connecting rod coordinate system, the robot forward and inverse kinematics analysis is carried out. In this paper, the transformation matrix between coordinate systems is used to solve the positive kinematics, and the results of positive kinematics are obtained, and then the inverse kinematics results are calculated by using the method of multiple quaternion and resultant simplification elimination. Finally, the programming results are given. (2) Motion path planning of manipulator: path planning is based on the initial position of the end actuator of 6-DOF manipulator and the designated destination position, in the space static environment. A feasible collision free path is found to enable the manipulator to move from the initial point to the target point. This paper first introduces the standard RRT algorithm, and then introduces the direction vector improved RRT algorithm. The collision free path from the initial position of the manipulator to the point of destination is planned. (3) the simulation control system is implemented: in order to verify the kinematics analysis and the correctness of the motion path planning, The simulation control system of six-degree-of-freedom series manipulator is programmed by using object-oriented C language and OpenGL. On this platform, the establishment of coordinate system, the solution of forward and inverse kinematics, the drawing of workspace and the planning of motion path are realized. In this paper, a six-degree-of-freedom series manipulator simulation control platform is developed to simulate the model of real manipulator. This three-dimensional simulation system has some reference value for the development of robot and control theory.
【學(xué)位授予單位】：濟(jì)南大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2016
【分類號】：TP242

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