【摘要】：工業(yè)生產(chǎn)逐漸向高精度、高效率等方向發(fā)展,因此也要求機(jī)械手不斷更新?lián)Q代以滿足越來越復(fù)雜的任務(wù)要求。就當(dāng)前的機(jī)械手發(fā)展?fàn)顩r來說,單個(gè)機(jī)械手靈活性差、效率低下,例如復(fù)雜的搬運(yùn)、裝配、維修和焊接任務(wù)中,單獨(dú)的機(jī)械手在信息的收集及控制處理等方面都表現(xiàn)出了很大的局限性。而多機(jī)械手協(xié)作靈活性強(qiáng),負(fù)載能力大,可以完成復(fù)雜多樣的任務(wù)形式,因此,對(duì)多機(jī)械手協(xié)作系統(tǒng)進(jìn)行研究具有重要意義。本文在現(xiàn)有MD-6機(jī)械手基礎(chǔ)上,采取D-H參數(shù)法推導(dǎo)運(yùn)動(dòng)學(xué)方程,引入MATLAB中的機(jī)器人工具箱證明了機(jī)械手運(yùn)動(dòng)學(xué)求解的準(zhǔn)確性。在建立的單獨(dú)的MD-6機(jī)械手模型基礎(chǔ)上,構(gòu)造多個(gè)MD-6型機(jī)械手的整體關(guān)系,并對(duì)多個(gè)MD-6機(jī)械手組成的協(xié)作系統(tǒng)動(dòng)力學(xué)進(jìn)行分析,為接下來的軌跡協(xié)調(diào)和跟蹤控制研究奠定了基礎(chǔ)。通過對(duì)多機(jī)械手協(xié)作進(jìn)程中末端執(zhí)行器中心位姿的相對(duì)運(yùn)動(dòng)進(jìn)行研究,把多機(jī)械手協(xié)作系統(tǒng)的運(yùn)動(dòng)狀態(tài)歸結(jié)成同步運(yùn)動(dòng)和相對(duì)運(yùn)動(dòng)兩種。分別對(duì)兩種運(yùn)動(dòng)狀態(tài)下機(jī)械手末端位姿的運(yùn)動(dòng)學(xué)約束方程進(jìn)行推導(dǎo)計(jì)算,并用ADAMS和MATLAB/Simulink聯(lián)合仿真,結(jié)果表明機(jī)械手協(xié)作能完成預(yù)期任務(wù),證明了協(xié)作系統(tǒng)運(yùn)動(dòng)學(xué)推導(dǎo)算法的正確性。同時(shí)探索了外部負(fù)載對(duì)于機(jī)械手末端位姿的影響,能夠?qū)崿F(xiàn)對(duì)誤差的有效預(yù)測。對(duì)多機(jī)械手協(xié)作系統(tǒng)的力/位置混合控制問題進(jìn)行研究,對(duì)比分析了 PID控制和滑模補(bǔ)償控制,仿真結(jié)果表明滑模補(bǔ)償控制跟蹤效果更佳,但是經(jīng)常伴有抖振情形。對(duì)此,提出基于模糊增益自適應(yīng)的滑模軌跡跟蹤控制策略,通過Simulink模擬顯示,所提控制算法有效且合理,抖振消除。通過對(duì)多機(jī)械手協(xié)作和智能混合跟蹤控制的研究,解決了多機(jī)械手協(xié)作的同步運(yùn)動(dòng)和相對(duì)運(yùn)動(dòng)問題,減小了力/位置的跟蹤誤差,為解訣實(shí)際工程問題提供了一定的理論基礎(chǔ)。
[Abstract]:Industrial production is gradually developing towards high precision and high efficiency, so the manipulator is also required to be updated to meet the more and more complex task requirements. In terms of the current state of manipulator development, individual manipulators are less flexible and inefficient, such as complex handling, assembly, maintenance and welding tasks, Individual manipulators show great limitations in information collection and control. But the multi-manipulator cooperation is flexible, the load ability is big, can complete the complex and diverse task forms, therefore, it is of great significance to study the multi-manipulator cooperation system. In this paper, based on the existing MD-6 manipulator, the kinematics equation is derived by using D-H parameter method, and the accuracy of kinematics solution of the manipulator is proved by introducing the robot toolbox in MATLAB. Based on the individual MD-6 manipulator model, the global relationship of multiple MD-6 manipulators is constructed, and the dynamics of cooperative system composed of multiple MD-6 manipulators is analyzed, which lays a foundation for the following research on trajectory coordination and tracking control. Based on the study of the relative motion of the center position of the terminal actuator in the process of multi-manipulator cooperation, the motion state of the multi-manipulator cooperative system is divided into two types: synchronous motion and relative motion. The kinematics constraint equations of the end position and pose of the manipulator in two kinds of motion states are deduced and calculated, and the simulation results with ADAMS and MATLAB/Simulink show that the manipulator cooperation can accomplish the expected task. It is proved that the kinematics derivation algorithm of cooperative system is correct. At the same time, the influence of the external load on the position and pose of the manipulator is explored, which can effectively predict the error. In this paper, the force / position hybrid control of multi-manipulator cooperative system is studied, and the PID control and sliding mode compensation control are compared. The simulation results show that the tracking effect of sliding mode compensation control is better, but often accompanied by chattering. In this paper, a sliding mode trajectory tracking control strategy based on fuzzy gain adaptive control is proposed. Simulink simulation shows that the proposed control algorithm is effective and reasonable, and buffeting cancellation. Through the research of multi-manipulator cooperation and intelligent hybrid tracking control, the synchronous and relative motion problems of multi-manipulator cooperation are solved, and the tracking error of force / position is reduced, which provides a theoretical basis for solving practical engineering problems.
【學(xué)位授予單位】：山東科技大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP241

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