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

【摘要】：雙臂機(jī)器人在多變環(huán)境以及復(fù)雜任務(wù)處理等情形中具有很強(qiáng)的適用性和可靠性,因此雙臂機(jī)器人在工業(yè)領(lǐng)域、服務(wù)領(lǐng)域有很好的應(yīng)用前景。雙臂機(jī)器人的協(xié)調(diào)運(yùn)動(dòng)是機(jī)器人系統(tǒng)的關(guān)鍵技術(shù)之一,也是機(jī)器人領(lǐng)域的研究熱點(diǎn)。本文調(diào)查了國(guó)內(nèi)外雙臂機(jī)器人及協(xié)調(diào)運(yùn)動(dòng)的研究現(xiàn)狀后,以NAO機(jī)器人作為實(shí)驗(yàn)平臺(tái)對(duì)基于視覺的雙臂機(jī)器人協(xié)調(diào)運(yùn)動(dòng)進(jìn)行了研究,主要研究?jī)?nèi)容如下。首先介紹了NAO機(jī)器人的軟件和硬件參數(shù),并對(duì)本文所涉及的頭部、左臂、右臂三個(gè)運(yùn)動(dòng)鏈進(jìn)行了DH參數(shù)建模,同時(shí)分析了各運(yùn)動(dòng)鏈的正運(yùn)動(dòng)學(xué)過程并給出了左臂和右臂的逆運(yùn)動(dòng)學(xué)解析解及推導(dǎo)過程。其次,分析了視覺系統(tǒng)的數(shù)學(xué)模型,實(shí)現(xiàn)了機(jī)器人相機(jī)參數(shù)的標(biāo)定,并分析了手眼標(biāo)定的數(shù)學(xué)原理,針對(duì)運(yùn)動(dòng)時(shí)NAO機(jī)器人本體不穩(wěn)定的情況對(duì)每個(gè)相機(jī)使用大量運(yùn)動(dòng)狀態(tài)采集并結(jié)合最優(yōu)化方法完成了手眼標(biāo)定。然后,針對(duì)如裝配等松協(xié)調(diào)環(huán)境,提出使用基于圖像的視覺伺服方法來(lái)實(shí)現(xiàn)協(xié)調(diào)運(yùn)動(dòng),同時(shí)提出了一種Mark標(biāo)記點(diǎn)的識(shí)別定位方法,并對(duì)協(xié)調(diào)過程進(jìn)行了實(shí)驗(yàn)和仿真。結(jié)果證明了該協(xié)調(diào)運(yùn)動(dòng)方法的可行性。最后針對(duì)NAO機(jī)器人獨(dú)特的視覺系統(tǒng)和連桿結(jié)構(gòu),提出由兩個(gè)NAO機(jī)器人組成的緊協(xié)調(diào)方案來(lái)模擬一特定任務(wù)。先利用兩NAO機(jī)器人頭部下相機(jī)的公共視野及工件上標(biāo)定圖案來(lái)相互定位,再利用頭部上相機(jī)來(lái)識(shí)別棍狀工具,在工件坐標(biāo)系內(nèi)進(jìn)行三維直線重建,同時(shí)提出了一種具有較高適應(yīng)性使用改進(jìn)的骨骼細(xì)化方法的直線識(shí)別方法。針對(duì)該任務(wù)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(duì)NAO機(jī)械臂僅有5個(gè)自由度的情況,對(duì)不可達(dá)的空間位姿通過放棄繞末端上一軸轉(zhuǎn)動(dòng)的數(shù)值求解策略實(shí)現(xiàn)了多機(jī)械臂的協(xié)調(diào)運(yùn)動(dòng)。并用兩個(gè)NAO機(jī)器人和MATLAB進(jìn)行了實(shí)驗(yàn)及仿真,驗(yàn)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(xué)位授予單位】：青島科技大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242

【參考文獻(xiàn)】

相關(guān)期刊論文 前7條

1 韓永寶;;勞動(dòng)年齡人口變動(dòng)對(duì)經(jīng)濟(jì)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(biāo)記點(diǎn)的檢測(cè)與識(shí)別[J];光學(xué)精密工程;2013年12期

3 艷濤;;匯童機(jī)器人第4、5代集體亮相[J];機(jī)器人技術(shù)與應(yīng)用;2012年04期

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

5 韓致信;嚴(yán)鐳;任燕宏;;七自由度仿人機(jī)械手的逆運(yùn)動(dòng)學(xué)分析[J];科學(xué)技術(shù)與工程;2011年08期

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

7 陳峰,丁富強(qiáng),趙錫芳;雙臂機(jī)器人無(wú)碰撞運(yùn)動(dòng)規(guī)劃[J];機(jī)器人;2002年02期

相關(guān)博士學(xué)位論文 前1條

1 王美玲;面向救援任務(wù)的雙臂機(jī)器人協(xié)作運(yùn)動(dòng)規(guī)劃與控制方法研究[D];中國(guó)科學(xué)技術(shù)大學(xué);2015年

相關(guān)碩士學(xué)位論文 前6條

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

2 馬志遠(yuǎn);NAO機(jī)器人的手臂建模及控制算法研究[D];燕山大學(xué);2015年

3 王化R，

本文編號(hào)：1466139