【摘要】：智能化是人工智能時代的機器人技術(shù)的發(fā)展目標之一,機器人技術(shù)研究的高級目標是使得機器人可以像人一樣思考、做事。如果要讓機器人能夠做出與人相似的智能行為,這需要機器人有很強的判斷能力,以及在變化的環(huán)境中學習以獲得經(jīng)驗知識的能力。目前的技術(shù)還不能使機器人達到這方面的要求,所以針對特定的任務(wù),使用者需要對機器人進行編程。機器人的編程工作不僅需要專業(yè)的技術(shù)知識,而且過程復(fù)雜繁瑣,費時費力,這無法達到人類對機器人給予的期望。為提高完成任務(wù)的能力,讓機器人在與人的交互過程中習得新技能,本課題將研究一種使機器人通過對人體手臂運動的模仿,自動生成可執(zhí)行運動軌跡的方法。與傳統(tǒng)的通過手工編程為機器人規(guī)劃軌跡的方法相比,本課題的研究將大大降低編程的難度和周期,提高機器人編程的自動化水平,增強人與機器人交互方式的智能化以及機器人的易用性,為機器人在更廣闊領(lǐng)域的應(yīng)用奠定基礎(chǔ)。首先,本文針對如何獲取人體手臂運動數(shù)據(jù)的問題,對多相機測量三維空間點坐標的原理作了介紹。通過對光學運動捕捉系統(tǒng)的學習和使用,實現(xiàn)了對運動數(shù)據(jù)的獲取。其次,針對如何對機器人進行運動學建模的問題,以一種六自由度的機械臂為對象,采用D-H法建立其運動學模型,確定了機器人的D-H參數(shù)及連桿間的位姿變換矩陣,求解了正、逆運動學方程,討論了逆解多解的取值問題,并對所求得的解進行了仿真驗證。然后,針對如何描述人體手臂運動的問題,對手臂的運動進行了分析,并做相應(yīng)的簡化,使用少量的關(guān)節(jié)轉(zhuǎn)動角度值來描述手臂的運動。在模糊邏輯理論的基礎(chǔ)上引入了自適應(yīng)神經(jīng)模糊推理系統(tǒng),利用神經(jīng)網(wǎng)絡(luò)的學習能力進行復(fù)雜的模糊推理,以建立復(fù)雜非線性系統(tǒng)的模型。最后,針對如何生成機器人可執(zhí)行軌跡的問題,將獲得的手臂運動數(shù)據(jù)轉(zhuǎn)換為相應(yīng)的機器人關(guān)節(jié)路徑點,并在關(guān)節(jié)空間中,使用過關(guān)節(jié)路徑點并帶拋物線擬合的線性插值方法來生成機器人的運動軌跡。在相關(guān)理論算法的基礎(chǔ)之上,編寫了機器人軌跡自動生成與仿真平臺,實現(xiàn)了對示教者運動數(shù)據(jù)的實時采集、對機器人的正確控制以及對生成軌跡的三維仿真。
[Abstract]:Intelligence is one of the development goals of robot technology in the era of artificial intelligence. The advanced goal of robot technology research is to make robots think and do things like human beings. If robots are to be able to perform intelligent behaviors similar to human beings, they need to have a strong judgment ability and the ability to learn to gain experiential knowledge in a changing environment. The current technology can not meet the requirements of the robot, so for specific tasks, the user needs to program the robot. The programming of robots requires not only professional technical knowledge, but also complicated, time-consuming and laborious processes, which cannot meet the expectations of human beings for robots. In order to improve the ability of accomplishing tasks and to acquire new skills in the process of interaction with human beings, this paper will study a method that can automatically generate executable trajectory by imitating the movement of human arm. Compared with the traditional manual programming method for robot trajectory planning, the research of this topic will greatly reduce the difficulty and cycle of programming, and improve the automation level of robot programming. The intelligentization of the interaction between human and robot and the ease of use of the robot lay the foundation for the application of robot in a wider field. Firstly, this paper introduces the principle of measuring the coordinate of three dimensional point by multi-camera aiming at how to obtain the motion data of human arm. Through the study and use of optical motion capture system, the motion data acquisition is realized. Secondly, aiming at the problem of how to model the kinematics of the robot, taking a six-degree-of-freedom manipulator as an object, the kinematics model is established by using D-H method, the D-H parameters and the position and attitude transformation matrix between the connecting rod are determined, and the positive solution is obtained. In the inverse kinematics equation, the value problem of multiple solutions of inverse solutions is discussed, and the obtained solutions are verified by simulation. Then, aiming at the problem of how to describe the movement of human arm, the motion of arm is analyzed and simplified, and the motion of arm is described by a small amount of angle of joint rotation. On the basis of fuzzy logic theory, an adaptive neural fuzzy inference system is introduced. The complex fuzzy reasoning is carried out by using the learning ability of neural network, and the model of complex nonlinear system is established. Finally, aiming at the problem of how to generate the executable trajectory of the robot, the obtained arm motion data is converted into the corresponding robot joint path point, and in the joint space, A linear interpolation method with parabola fitting is used to generate the trajectory of the robot. Based on the related theories and algorithms, a robot trajectory automatic generation and simulation platform is developed, which realizes the real-time acquisition of the motion data of the teacher, the correct control of the robot and the 3D simulation of the generated trajectory.
【學位授予單位】：華僑大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP242

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