本文選題：冗余雙臂機(jī)器人　切入點(diǎn)：避障　出處：《南京航空航天大學(xué)》2016年博士論文　論文類型：學(xué)位論文

【摘要】：冗余雙臂機(jī)器人是機(jī)器人研究領(lǐng)域中的一個(gè)前沿課題。特別是隨著單臂機(jī)器人在操作能力、控制等方面的局限性不斷凸顯,擁有協(xié)調(diào)操作能力的冗余雙臂機(jī)器人的研究受到了越來越多的關(guān)注。然而由于協(xié)調(diào)操作的雙臂之間存在著復(fù)雜的運(yùn)動(dòng)學(xué)和動(dòng)力學(xué)約束關(guān)系,冗余雙臂機(jī)器人的控制和分析具有相當(dāng)?shù)碾y度。本文針對(duì)冗余雙臂機(jī)器人的協(xié)調(diào)作業(yè)任務(wù),系統(tǒng)地研究了冗余雙臂機(jī)器人運(yùn)動(dòng)學(xué)和動(dòng)力學(xué)的相關(guān)問題,主要包括以下五個(gè)方面內(nèi)容:(1)針對(duì)單個(gè)冗余機(jī)械臂的避障規(guī)劃問題,提出了基于主從任務(wù)轉(zhuǎn)化的避障算法。該方法將冗余機(jī)械臂避障運(yùn)動(dòng)的3維操作空間縮減為1維的運(yùn)動(dòng)空間,引入了2個(gè)轉(zhuǎn)換變量,可以根據(jù)得到的實(shí)時(shí)最小距離的變化,實(shí)現(xiàn)機(jī)械臂末端的軌跡跟蹤運(yùn)動(dòng)和避障運(yùn)動(dòng)之間的主從任務(wù)優(yōu)先級(jí)轉(zhuǎn)換。通過仿真實(shí)驗(yàn)證明了該方法在冗余機(jī)械臂的避障規(guī)劃中具有良好的效果,不僅能實(shí)現(xiàn)冗余機(jī)械臂的避障,而且能避免任務(wù)之間的沖突。(2)對(duì)冗余雙臂機(jī)器人協(xié)調(diào)操作的運(yùn)動(dòng)學(xué)規(guī)劃問題進(jìn)行了研究,引入了用于描述協(xié)調(diào)操作任務(wù)的絕對(duì)位姿變量和相對(duì)位姿變量,構(gòu)造出了對(duì)應(yīng)于協(xié)調(diào)操作任務(wù)的雅可比矩陣,得到了冗余雙臂機(jī)器人的運(yùn)動(dòng)學(xué)逆解,使得冗余雙臂機(jī)器人能夠?qū)崿F(xiàn)協(xié)調(diào)操作任務(wù)。結(jié)合單臂機(jī)器人的避障算法原理,提出了冗余雙臂機(jī)器人協(xié)調(diào)操作的避障規(guī)劃算法。通過仿真驗(yàn)證了冗余雙臂機(jī)器人協(xié)調(diào)操作的避障規(guī)劃算法的有效性。(3)利用基于解耦的自然正交補(bǔ)的動(dòng)力學(xué)遞推建模方法,對(duì)多自由度機(jī)器人的動(dòng)力學(xué)建模問題進(jìn)行了研究。通過引入解耦的自然正交補(bǔ)的概念和方法,消除了牛頓-歐拉動(dòng)力學(xué)方程中的約束力項(xiàng),并利用旋量來表示相關(guān)的運(yùn)動(dòng)學(xué)和動(dòng)力學(xué)變量,提出了一種基于解耦的自然正交補(bǔ)的高效率反向動(dòng)力學(xué)遞推建模方法。針對(duì)單臂冗余機(jī)器人系統(tǒng)和冗余雙臂機(jī)器人的開環(huán)系統(tǒng),分別編制了反向動(dòng)力學(xué)建模程序,并與仿真軟件ADAMS得到的仿真結(jié)果進(jìn)行了對(duì)比,驗(yàn)證了該方法的可靠性和高效性。(4)研究了構(gòu)成閉環(huán)系統(tǒng)的冗余雙臂機(jī)器人協(xié)調(diào)作業(yè)系統(tǒng)的載荷分配問題和動(dòng)力學(xué)優(yōu)化問題。利用機(jī)器人雙臂之間的運(yùn)動(dòng)學(xué)和動(dòng)力學(xué)約束關(guān)系,提出了一種無內(nèi)力的載荷分配方法。通過機(jī)械臂的動(dòng)力學(xué)特性,并利用冗余雙臂協(xié)調(diào)系統(tǒng)的自運(yùn)動(dòng)特性,以驅(qū)動(dòng)力矩的優(yōu)化為目的,實(shí)現(xiàn)了系統(tǒng)的動(dòng)力學(xué)性能優(yōu)化。(5)根據(jù)冗余雙臂機(jī)器人系統(tǒng)的三維結(jié)構(gòu)模型,采用多體動(dòng)力學(xué)仿真分析軟件ADAMS建立了系統(tǒng)整體的虛擬樣機(jī)系統(tǒng)。面向協(xié)調(diào)搬運(yùn)任務(wù)和協(xié)調(diào)裝配任務(wù),對(duì)與雙臂協(xié)調(diào)操作有關(guān)的任務(wù)分解,雙臂的任務(wù)分配等問題,在虛擬樣機(jī)系統(tǒng)中進(jìn)行了數(shù)值仿真和分析,為物理樣機(jī)的設(shè)計(jì)和操作提供了參考。本文所研究的避障規(guī)劃、雙臂協(xié)調(diào)操作、雙臂機(jī)器人的動(dòng)力學(xué)建模、載荷分配和力矩優(yōu)化以及任務(wù)分解和分配等內(nèi)容涵蓋了冗余雙臂機(jī)器人協(xié)調(diào)操作環(huán)境中所涉及到的關(guān)鍵問題,不僅為冗余雙臂機(jī)器人的協(xié)調(diào)操作控制問題提供了理論支撐,而且對(duì)其他多臂、多足等復(fù)雜機(jī)器人系統(tǒng)的研究也具有重要的參考價(jià)值。
[Abstract]:Redundant dual arm robot is a hot topic in the research field of the robot. Especially with the single arm robot in operation ability, the limitation of control and other aspects of the research have become prominent, the redundant dual arm robot coordinated operation ability has attracted more and more attention. However, because of the complex relationship between the kinematic and dynamic constraints between the coordinated operation arms, it is quite difficult to analyze and control the redundant dual arm robot. The coordination task for redundant dual arm robot system, to study the related problems of redundant dual arm robot kinematics and dynamics, mainly including the following five aspects: (1) aiming at the obstacle avoidance planning problem of single redundant manipulator and obstacle avoidance is presented the master-slave algorithm based on the transformation of the task. This method will be 3 dimensional space redundant manipulator obstacleavoidance movement reduced to 1 dimensional movement of air Between the introduction of the 2 conversion variable, according to the real-time change of the minimum distance of the conversion, the task priority between the master-slave manipulator trajectory tracking motion and obstacle avoidance motion. Simulation results show that this method has good effect in planning without collision redundant manipulators, can not only achieve obstacle avoidance of redundant manipulators, and can avoid the conflict between tasks. (2) the kinematic planning problem of coordinated operation of redundant dual arm robot is studied, for absolute pose variables to describe the coordinated operation of the task and the relative pose variable is introduced to construct the Jacobi matrix corresponding to the coordination task, the kinematics the inverse solution of redundant dual arm robot, the redundant dual arm robot can realize the coordinated operation tasks. Combined with the single arm robot obstacle avoidance algorithm principle, put forward the redundant arms robot coordination Obstacle avoidance planning algorithm. Through the simulation to verify the effectiveness of the obstacle avoidance planning algorithm of redundant dual arm robot coordinated operation. (3) using the dynamic decoupling natural orthogonal complement recursive modeling method based on the dynamic modeling problem of multi DOF robot is studied. The concepts and methods introduced by natural orthogonal decoupling repair, elimination of binding a Newton Euler dynamic equations in, and use the screw to represent the kinematics and dynamics of correlated variables, proposes a recursive modeling method for efficient inverse dynamics of natural orthogonal complement decoupling in the open loop system. Based on ARM redundant robot system and redundant dual arm robot, are worked out. Inverse dynamics modeling and simulation program and simulation software ADAMS results were compared to verify the reliability and efficiency of the method. (4) studied. A redundant dual arm robot coordination operating system of the closed-loop system of the load distribution problem and dynamic optimization problem. Using the kinematic and dynamic constraints of robot arms between the proposed load distribution method without force. Through the dynamic characteristic of the manipulator, and the use of self motion characteristics of redundant dual arm coordination system, to optimize the driving torque for the purpose to realize the optimization of dynamic performance of the system. (5) according to the three-dimensional structure model of redundant dual arm robot system, using the multi-body dynamics analysis software ADAMS to establish a virtual prototype system of the whole system. For the coordination of handling tasks and coordination of assembly tasks and arms coordination operations related to the task decomposition, task allocation the problem of the arms, the numerical simulation and Analysis on virtual prototype system, which provides a reference for the design and operation of the physical prototype. This paper studies the obstacle avoidance planning, arms coordination, robot dynamics modeling, load distribution and torque optimization and task decomposition and allocation covers the key problems related to the redundant dual arm robot coordination in the operational environment, not only provides theoretical support for the coordinated operation control of redundant robot arms, and the other arm of the complex multi legged robot system has important reference value.

【學(xué)位授予單位】：南京航空航天大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2016
【分類號(hào)】：TP242

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