Cyton Gamma 300七自由度機(jī)械臂逆解分析及控制
發(fā)布時間：2018-10-16 13:12
【摘要】：隨著工業(yè)的發(fā)展和科技的進(jìn)步,機(jī)械臂在工業(yè)生產(chǎn)中得到了越來越廣泛的應(yīng)用。對機(jī)械臂的研究,有助于提高工作效率和改善操作性能。而機(jī)械臂運(yùn)動學(xué)、路徑規(guī)劃和控制理論則是機(jī)械臂研究的重要基礎(chǔ)。針對上述問題,本文以美國ROBAI公司生產(chǎn)的Cyton Gamma 300七自由度機(jī)械臂為研究對象進(jìn)行建模與仿真。首先按照Denavit-Hatenberg方法建立Cyton Gamma 300七自由度機(jī)械臂的運(yùn)動學(xué)模型,求出機(jī)械臂的正運(yùn)動學(xué)方程,得到機(jī)械臂的正運(yùn)動學(xué)解。再根據(jù)Denavit-Hatenberg參數(shù),應(yīng)用解析法求得機(jī)械臂的逆運(yùn)動學(xué)解。調(diào)用MATLAB中Robotics Toolbox中的link和robot函數(shù)建立Cyton Gamma 300七自由度機(jī)械臂模型,驗(yàn)證機(jī)械臂運(yùn)動學(xué)的正解和逆解的正確性。與應(yīng)用機(jī)械臂運(yùn)動學(xué)方程得到的解作比較,結(jié)果一致,則說明運(yùn)動學(xué)方程是正確的。在運(yùn)動學(xué)的基礎(chǔ)上,應(yīng)用拉格朗日函數(shù)建立了機(jī)械臂的動力學(xué)模型。機(jī)械臂軌跡規(guī)劃對機(jī)械臂快速、穩(wěn)定、準(zhǔn)確的動作有著至關(guān)重要的影響。為了增加在關(guān)節(jié)空間中機(jī)械臂的平穩(wěn)性,減小沖擊和振動,必須保證每個點(diǎn)的關(guān)節(jié)角速度、角加速度甚至jerk函數(shù)的連續(xù)性。通過Cyton Gamma 300七自由度機(jī)械臂的運(yùn)動學(xué)求得的逆解方程將Cyton Gamma 300七自由度機(jī)械臂末端位姿轉(zhuǎn)換成對應(yīng)的關(guān)節(jié)角度,在關(guān)節(jié)空間中使用多項(xiàng)式插值和正弦函數(shù)軌跡規(guī)劃方法對機(jī)械臂的路徑規(guī)劃,獲得機(jī)械臂各關(guān)節(jié)的軌跡曲線,把用這兩種不同的方法得到的軌跡曲線作比較,分析組合曲線在軌跡規(guī)劃中的優(yōu)勢。根據(jù)拉格朗日函數(shù)建立機(jī)械臂的動力學(xué)模型,得到機(jī)械臂的動力學(xué)方程。在建立的動力學(xué)模型基礎(chǔ)上,將應(yīng)用非對稱組合正弦函數(shù)得到的軌跡曲線作為機(jī)械臂運(yùn)動的參考曲線,依據(jù)魯棒控制原理和方法設(shè)計(jì)一個魯棒控制器。最后將系統(tǒng)的魯棒控制轉(zhuǎn)化為最優(yōu)控制,尋找符合要求的最優(yōu)解,設(shè)計(jì)出一個魯棒最優(yōu)控制器。
[Abstract]:With the development of industry and the progress of science and technology, the manipulator has been more and more widely used in industrial production. The research on the manipulator is helpful to improve the working efficiency and operation performance. The kinematics, path planning and control theory of manipulator are the important foundation of manipulator research. In order to solve the above problems, this paper models and simulates the Cyton Gamma 300 7 DOF manipulator produced by ROBAI Company. Firstly, the kinematics model of the Cyton Gamma 300-DOF manipulator is established according to the Denavit-Hatenberg method, and the forward kinematics equation of the manipulator is obtained, and the positive kinematics solution of the manipulator is obtained. According to the Denavit-Hatenberg parameters, the inverse kinematics solution of the manipulator is obtained by analytical method. The link and robot functions in Robotics Toolbox in MATLAB are used to establish the Cyton Gamma 300 seven degree of freedom manipulator model, which verifies the correctness of the forward and inverse solutions of the manipulator kinematics. The results are consistent with the results obtained by applying the kinematics equation of the manipulator, and the results show that the kinematics equation is correct. On the basis of kinematics, the dynamic model of manipulator is established by using Lagrangian function. Trajectory planning plays an important role in the rapid, stable and accurate movement of the manipulator. In order to increase the stability of the manipulator in the joint space and reduce the shock and vibration, the continuity of the joint angular velocity, angular acceleration and even the jerk function of each point must be guaranteed. The inverse solution equation obtained by kinematics of the Cyton Gamma 3007-DOF manipulator transforms the terminal position and pose of the Cyton Gamma 3007-DOF manipulator into the corresponding joint angle. Using polynomial interpolation and sinusoidal function trajectory planning method in the joint space, the path planning of the manipulator is obtained, and the trajectory curves of the joints of the manipulator are obtained, and the trajectory curves obtained by these two different methods are compared. The advantage of composite curve in trajectory planning is analyzed. According to the Lagrange function, the dynamic model of the manipulator is established, and the dynamic equation of the manipulator is obtained. On the basis of the established dynamic model, a robust controller is designed based on the robust control principle and method by using the trajectory curve obtained from the asymmetric combined sinusoidal function as the reference curve of the manipulator motion. Finally, the robust control of the system is transformed into the optimal control, and a robust optimal controller is designed.
【學(xué)位授予單位】：中北大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2016
【分類號】：TP241
本文編號：2274471
[Abstract]:With the development of industry and the progress of science and technology, the manipulator has been more and more widely used in industrial production. The research on the manipulator is helpful to improve the working efficiency and operation performance. The kinematics, path planning and control theory of manipulator are the important foundation of manipulator research. In order to solve the above problems, this paper models and simulates the Cyton Gamma 300 7 DOF manipulator produced by ROBAI Company. Firstly, the kinematics model of the Cyton Gamma 300-DOF manipulator is established according to the Denavit-Hatenberg method, and the forward kinematics equation of the manipulator is obtained, and the positive kinematics solution of the manipulator is obtained. According to the Denavit-Hatenberg parameters, the inverse kinematics solution of the manipulator is obtained by analytical method. The link and robot functions in Robotics Toolbox in MATLAB are used to establish the Cyton Gamma 300 seven degree of freedom manipulator model, which verifies the correctness of the forward and inverse solutions of the manipulator kinematics. The results are consistent with the results obtained by applying the kinematics equation of the manipulator, and the results show that the kinematics equation is correct. On the basis of kinematics, the dynamic model of manipulator is established by using Lagrangian function. Trajectory planning plays an important role in the rapid, stable and accurate movement of the manipulator. In order to increase the stability of the manipulator in the joint space and reduce the shock and vibration, the continuity of the joint angular velocity, angular acceleration and even the jerk function of each point must be guaranteed. The inverse solution equation obtained by kinematics of the Cyton Gamma 3007-DOF manipulator transforms the terminal position and pose of the Cyton Gamma 3007-DOF manipulator into the corresponding joint angle. Using polynomial interpolation and sinusoidal function trajectory planning method in the joint space, the path planning of the manipulator is obtained, and the trajectory curves of the joints of the manipulator are obtained, and the trajectory curves obtained by these two different methods are compared. The advantage of composite curve in trajectory planning is analyzed. According to the Lagrange function, the dynamic model of the manipulator is established, and the dynamic equation of the manipulator is obtained. On the basis of the established dynamic model, a robust controller is designed based on the robust control principle and method by using the trajectory curve obtained from the asymmetric combined sinusoidal function as the reference curve of the manipulator motion. Finally, the robust control of the system is transformed into the optimal control, and a robust optimal controller is designed.
【學(xué)位授予單位】：中北大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2016
【分類號】：TP241
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