本文關鍵詞： NAO 機器人 雙臂機器人協(xié)作 D-H 圖像處理 視覺伺服　出處：《青島科技大學》2017年碩士論文　論文類型：學位論文

【摘要】：雙臂機器人在多變環(huán)境以及復雜任務處理等情形中具有很強的適用性和可靠性,因此雙臂機器人在工業(yè)領域、服務領域有很好的應用前景。雙臂機器人的協(xié)調運動是機器人系統(tǒng)的關鍵技術之一,也是機器人領域的研究熱點。本文調查了國內(nèi)外雙臂機器人及協(xié)調運動的研究現(xiàn)狀后,以NAO機器人作為實驗平臺對基于視覺的雙臂機器人協(xié)調運動進行了研究,主要研究內(nèi)容如下。首先介紹了NAO機器人的軟件和硬件參數(shù),并對本文所涉及的頭部、左臂、右臂三個運動鏈進行了DH參數(shù)建模,同時分析了各運動鏈的正運動學過程并給出了左臂和右臂的逆運動學解析解及推導過程。其次,分析了視覺系統(tǒng)的數(shù)學模型,實現(xiàn)了機器人相機參數(shù)的標定,并分析了手眼標定的數(shù)學原理,針對運動時NAO機器人本體不穩(wěn)定的情況對每個相機使用大量運動狀態(tài)采集并結合最優(yōu)化方法完成了手眼標定。然后,針對如裝配等松協(xié)調環(huán)境,提出使用基于圖像的視覺伺服方法來實現(xiàn)協(xié)調運動,同時提出了一種Mark標記點的識別定位方法,并對協(xié)調過程進行了實驗和仿真。結果證明了該協(xié)調運動方法的可行性。最后針對NAO機器人獨特的視覺系統(tǒng)和連桿結構,提出由兩個NAO機器人組成的緊協(xié)調方案來模擬一特定任務。先利用兩NAO機器人頭部下相機的公共視野及工件上標定圖案來相互定位,再利用頭部上相機來識別棍狀工具,在工件坐標系內(nèi)進行三維直線重建,同時提出了一種具有較高適應性使用改進的骨骼細化方法的直線識別方法。針對該任務工具直線與工件平面的垂直約束提出了一種規(guī)劃方法,并針對NAO機械臂僅有5個自由度的情況,對不可達的空間位姿通過放棄繞末端上一軸轉動的數(shù)值求解策略實現(xiàn)了多機械臂的協(xié)調運動。并用兩個NAO機器人和MATLAB進行了實驗及仿真,驗證了該方案的可行性。
[Abstract]:The dual-arm robot has strong applicability and reliability in changeable environment and complex task processing, so dual-arm robot is in the field of industry. The coordinated movement of dual-arm robot is one of the key technologies of robot system. It is also a research hotspot in the field of robot. This paper investigates the research status of dual-arm robot and coordinated motion at home and abroad. The coordinated motion of dual-arm robot based on vision is studied with NAO robot as the experimental platform. The main contents are as follows. Firstly, the software and hardware parameters of NAO robot are introduced. The DH parameters of the head, left arm and right arm are modeled. At the same time, the forward kinematics process of each kinematic chain is analyzed, and the inverse kinematics analytical solution and derivation process of the left arm and right arm are given. Secondly, the mathematical model of the vision system is analyzed, and the calibration of the camera parameters of the robot is realized. The mathematical principle of hand-eye calibration is analyzed. Aiming at the instability of NAO robot in motion, a large number of motion state acquisition and optimization method are used to complete the hand-eye calibration for each camera. Then. Aiming at loose coordination environment such as assembly, a visual servo method based on image is proposed to realize coordinated motion, and a method of recognition and localization of Mark marker points is proposed. Experiments and simulations are carried out on the coordination process. The results show the feasibility of the coordinated motion method. Finally, the unique vision system and connecting rod structure of the NAO robot are discussed. A compact coordination scheme consisting of two NAO robots is proposed to simulate a specific task. Firstly, the common field of view of the camera under the head of the two NAO robots and the calibration pattern on the workpiece are used to locate each other. Then using the camera on the head to identify the stick shape tool, the three-dimensional straight line reconstruction is carried out in the workpiece coordinate system. At the same time, a linear recognition method with high adaptability to use the improved bone refinement method is proposed, and a planning method for the vertical constraints between the straight line and the workpiece plane of the task tool is proposed. And aiming at the NAO manipulator with only 5 degrees of freedom. For the unreachable spatial posture, the coordinated motion of the multi-manipulator is realized by giving up the numerical solution strategy of turning around the upper axis of the end, and two NAO robots and MATLAB are used to carry out experiments and simulations. The feasibility of the scheme is verified.
【學位授予單位】：青島科技大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP242

【參考文獻】

相關期刊論文 前7條

1 韓永寶;;勞動年齡人口變動對經(jīng)濟發(fā)展的影響[J];人民論壇;2015年36期

2 宋麗梅;陳昌曼;陳卓;覃名翠;李大鵬;;環(huán)狀編碼標記點的檢測與識別[J];光學精密工程;2013年12期

3 艷濤;;匯童機器人第4、5代集體亮相[J];機器人技術與應用;2012年04期

4 吳浪;周煒;;浙江大學成功研制大型仿人機器人[J];科技創(chuàng)新與品牌;2011年11期

5 韓致信;嚴鐳;任燕宏;;七自由度仿人機械手的逆運動學分析[J];科學技術與工程;2011年08期

6 周軍;丁希侖;;基于遺傳算法的雙臂機器人模糊力/位混合控制[J];機器人;2008年04期

7 陳峰,丁富強,趙錫芳;雙臂機器人無碰撞運動規(guī)劃[J];機器人;2002年02期

相關博士學位論文 前1條

1 王美玲;面向救援任務的雙臂機器人協(xié)作運動規(guī)劃與控制方法研究[D];中國科學技術大學;2015年

相關碩士學位論文 前6條

1 柏雪峰;一種雙攝像頭協(xié)同的機器人機械手物體抓取方法實現(xiàn)[D];西南交通大學;2015年

2 馬志遠;NAO機器人的手臂建模及控制算法研究[D];燕山大學;2015年

3 王化R，

本文編號：1466139