發(fā)布時(shí)間：2018-11-06 21:22

【摘要】：隨著仿生學(xué)的發(fā)展,人們對(duì)仿生懸臂擺蕩運(yùn)動(dòng)等非線(xiàn)性欠驅(qū)動(dòng)非完整約束系統(tǒng)控制的研究越來(lái)越多。猿猴等靈長(zhǎng)類(lèi)動(dòng)物之所以能夠在樹(shù)枝間靈活地?cái)[蕩,得益于其通過(guò)長(zhǎng)期進(jìn)化而來(lái)的本能來(lái)控制自身的擺蕩姿態(tài),達(dá)到動(dòng)能與勢(shì)能之間靈活地轉(zhuǎn)換。借鑒于猿猴的仿生擺蕩控制原理,為了探索非線(xiàn)性欠驅(qū)動(dòng)系統(tǒng)的控制的新領(lǐng)域,以及實(shí)現(xiàn)欠驅(qū)動(dòng)機(jī)器人代替人類(lèi)在高空桁架,外太空環(huán)境等非連續(xù)介質(zhì)下連續(xù)移動(dòng)的目的,本文研究了仿猿雙臂手機(jī)器人在桁架桿下實(shí)現(xiàn)完全自主的大阻尼欠驅(qū)動(dòng)連續(xù)移動(dòng)抓桿的控制策略與方法�；趯�(duì)靈長(zhǎng)類(lèi)生物擺蕩運(yùn)動(dòng)機(jī)理的認(rèn)識(shí),本文首先介紹了本實(shí)驗(yàn)室所提出的在仿猿雙臂手機(jī)器人大阻尼欠驅(qū)動(dòng)抓桿策略。本文將連續(xù)移動(dòng)抓桿從靜止勵(lì)振到下放停機(jī)細(xì)化為自啟動(dòng)勵(lì)振階段,調(diào)整構(gòu)型大阻尼抓桿階段,自運(yùn)動(dòng)調(diào)整松桿階段,周期性擺蕩連續(xù)移動(dòng)階段和下放停止階段。對(duì)于欠驅(qū)動(dòng)大阻尼階段的機(jī)器人進(jìn)行了運(yùn)動(dòng)學(xué)正逆解分析。對(duì)于欠驅(qū)動(dòng)四桿機(jī)器人建立了動(dòng)力學(xué)模型。結(jié)合機(jī)器人的運(yùn)動(dòng)學(xué)和動(dòng)力學(xué),本文對(duì)各個(gè)階段的機(jī)器人進(jìn)行控制模型的建立與控制策略的分析。針對(duì)目前仿猿擺蕩機(jī)器人抓桿缺乏可靠性評(píng)估的現(xiàn)象,基于李雅普諾夫定理分析了機(jī)器人大阻尼的退轉(zhuǎn)速度對(duì)于抓桿穩(wěn)定性的影響,提出了速度相關(guān)和力矩相關(guān)的退轉(zhuǎn)穩(wěn)定性條件。針對(duì)三桿抓桿的可抓握范圍不足的缺陷,本文提出了四桿協(xié)調(diào)反饋?zhàn)U控制策略。為了解決實(shí)際機(jī)器人退轉(zhuǎn)反饋延遲問(wèn)題,提出了退轉(zhuǎn)預(yù)估補(bǔ)償策略。利用最優(yōu)控制理論,對(duì)擺蕩階段的機(jī)器人進(jìn)行了關(guān)節(jié)速度最小同時(shí)擺蕩后重心最高的主驅(qū)動(dòng)關(guān)節(jié)前饋軌跡的求解。根據(jù)幾何關(guān)系,分析了自運(yùn)動(dòng)調(diào)整階段,松桿階段的需要滿(mǎn)足的運(yùn)動(dòng)學(xué)約束條件。為了保證機(jī)器人各個(gè)階段控制切換的穩(wěn)定性,設(shè)計(jì)了各階段間控制器切換條件,整合成一個(gè)總的能實(shí)現(xiàn)仿猿雙臂手機(jī)器人完全自動(dòng)化的連續(xù)移動(dòng)控制器。建立ADAMS-Simulink聯(lián)合仿真控制系統(tǒng)。對(duì)虛擬實(shí)驗(yàn)環(huán)境下的仿猿雙臂手機(jī)器人分別進(jìn)行了桿水平間距0.4m和0.6m的抓桿連續(xù)移動(dòng)仿真。仿真結(jié)果表明所提出的方法能實(shí)現(xiàn)各個(gè)運(yùn)動(dòng)階段間柔順切換;四桿協(xié)調(diào)抓桿顯著提高了大阻尼欠驅(qū)動(dòng)反饋?zhàn)U的可抓握范圍,實(shí)現(xiàn)了機(jī)器人一次擺蕩抓握目標(biāo)桿的能力。仿真驗(yàn)證了所設(shè)計(jì)的控制器的有效性,以及所提出穩(wěn)定性理論的正確性。
[Abstract]:With the development of bionics, more and more researches have been made on the control of nonlinear underactuated nonholonomic constrained systems such as the swing motion of bionic cantilever. Primates such as apes are able to swing flexibly between branches thanks to their long-evolved instincts to control their swinging posture and achieve a flexible conversion between kinetic energy and potential energy. In order to explore the new field of control of nonlinear underactuated system and to realize the continuous movement of human beings in discontinuous medium such as high altitude truss and outer space environment, this paper draws lessons from the theory of bionic swing control of apes, in order to explore the new field of control of nonlinear underactuated system. In this paper, the control strategy and method of the continuous moving grab rod with large damping underactuation under the truss bar for the ape-like dual-arm robot are studied. Based on the understanding of the mechanism of the swing motion of primate organisms, this paper first introduces the large damping underactuated grab rod strategy proposed in our laboratory. In this paper, the continuous moving grab bar from static excitation to down-down stop is divided into self-starting excitation stage, adjusting configuration with large damping grip stage, self-motion adjusting loosing stage, periodic swing continuous moving stage and down-down stopping stage. The kinematics inverse solution of the underactuated robot with large damping stage is analyzed. The dynamic model of underactuated four-bar robot is established. Combined with the kinematics and dynamics of the robot, the control model and control strategy of each stage of the robot are established and analyzed in this paper. In view of the lack of reliability evaluation of the grab rod of the ape-like swinging robot at present, based on Lyapunov theorem, the influence of the speed of the large damping of the robot on the stability of the grab rod is analyzed. The retrograde stability condition of velocity and torque correlation is proposed. Aiming at the deficiency of grasping range of three-bar grip, a four-bar coordinated feedback control strategy is proposed in this paper. In order to solve the problem of backward feedback delay of robot, a retrograde predictive compensation strategy is proposed. The optimal control theory is used to solve the feedforward trajectory of the main driving joint with the lowest joint velocity and the highest center of gravity after the joint swing. According to the geometric relations, the kinematics constraints of the self-motion adjustment stage and the loose pole stage are analyzed. In order to ensure the stability of the control switching in each stage of the robot, the switching conditions of the controller between the stages are designed and integrated into a continuous mobile controller, which can achieve the complete automation of the robot. The ADAMS-Simulink joint simulation control system is established. In the virtual experimental environment, the simulation of continuous movement of grasp rod with 0.4 m and 0.6 m horizontal distance is carried out respectively. The simulation results show that the proposed method can achieve compliance switching between different motion stages, and the four bar coordinated grip can significantly improve the gripping range of the large damping underactuated feedback grip, and realize the ability of the robot to grasp the target rod in one swing. Simulation results show the effectiveness of the proposed controller and the correctness of the proposed stability theory.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類(lèi)號(hào)】：TP242

【參考文獻(xiàn)】

相關(guān)期刊論文 前10條

1 吳偉國(guó);席寶時(shí);;三自由度欠驅(qū)動(dòng)機(jī)器人抓握目標(biāo)桿運(yùn)動(dòng)控制[J];哈爾濱工業(yè)大學(xué)學(xué)報(bào);2013年11期

2 董云云;劉治品;張?zhí)m蘭;于征華;;欠驅(qū)動(dòng)機(jī)器人控制策略綜述[J];傳感器世界;2012年12期

3 張安彩;賴(lài)旭芝;佘錦華;吳敏;;基于倒轉(zhuǎn)方法的欠驅(qū)動(dòng)Acrobot系統(tǒng)穩(wěn)定控制[J];自動(dòng)化學(xué)報(bào);2012年08期

4 宋紅生;王東署;;仿生機(jī)器人研究進(jìn)展綜述[J];機(jī)床與液壓;2012年13期

5 孫寧;方勇純;;一類(lèi)欠驅(qū)動(dòng)系統(tǒng)的控制方法綜述[J];智能系統(tǒng)學(xué)報(bào);2011年03期

6 張曉華;趙旖旎;程紅太;;靈長(zhǎng)類(lèi)仿生機(jī)器人懸臂運(yùn)動(dòng)仿生控制綜述[J];控制工程;2011年02期

7 任志全;余躍慶;周軍;;水平運(yùn)動(dòng)的三自由度欠驅(qū)動(dòng)機(jī)器人的位置控制[J];機(jī)器人;2010年06期

8 趙旖旎;程紅太;張曉華;;基于能量的欠驅(qū)動(dòng)雙臂機(jī)器人懸擺動(dòng)態(tài)伺服控制[J];西南交通大學(xué)學(xué)報(bào);2009年03期

9 陳煒,余躍慶,張緒平;欠驅(qū)動(dòng)機(jī)器人研究綜述[J];機(jī)械設(shè)計(jì)與研究;2005年04期

10 許宏巖,付宜利,王樹(shù)國(guó),劉建國(guó);仿生機(jī)器人的研究[J];機(jī)器人;2004年03期

相關(guān)碩士學(xué)位論文 前2條

1 顧夏東;仿猿雙臂手機(jī)器人抓桿連續(xù)移動(dòng)控制研究[D];哈爾濱工業(yè)大學(xué);2015年

2 席寶時(shí);三自由度仿猿雙臂手欠驅(qū)動(dòng)抓握桁架桿運(yùn)動(dòng)控制研究[D];哈爾濱工業(yè)大學(xué);2013年

，

本文編號(hào)：2315501