本文選題：機(jī)械臂 + 運(yùn)動(dòng)學(xué)控制��； 參考：《浙江大學(xué)》2016年博士論文

【摘要】：隨著機(jī)器人行業(yè)的快速發(fā)展,機(jī)械臂已經(jīng)深入到工業(yè)制造的各個(gè)方面,并且往醫(yī)療以及家庭服務(wù)方向邁進(jìn)。針對(duì)應(yīng)用的不同,機(jī)械臂的結(jié)構(gòu)類型多樣化,關(guān)節(jié)數(shù)從兩關(guān)節(jié)到七關(guān)節(jié)不等,負(fù)載以及速度運(yùn)行能力都有不同的等級(jí)。因而,研究通用的運(yùn)動(dòng)控制算法,適用于不同種類的機(jī)械臂控制至關(guān)重要。另一方面,工業(yè)現(xiàn)場(chǎng)總線的通訊速率已經(jīng)可以滿足機(jī)械臂的實(shí)時(shí)運(yùn)動(dòng)控制要求,而且計(jì)算機(jī)運(yùn)行速度也可以保證復(fù)雜算法在控制周期內(nèi)完成。因而,機(jī)械臂開始從原先的離線規(guī)劃轉(zhuǎn)變到實(shí)時(shí)控制模式,對(duì)運(yùn)動(dòng)控制算法的魯棒性提出了更高要求。此外,機(jī)器人的運(yùn)行環(huán)境已不再單一,在復(fù)雜工況以及動(dòng)態(tài)環(huán)境中,機(jī)械臂運(yùn)動(dòng)控制算法必須具備處理多任務(wù)、多約束的能力。本文以實(shí)驗(yàn)室自主研制的七關(guān)節(jié)乒乓球機(jī)器人為載體,通過理論研究和實(shí)驗(yàn)仿真驗(yàn)證相結(jié)合的方式,系統(tǒng)深入地研究了機(jī)械臂姿態(tài)運(yùn)動(dòng)控制、關(guān)節(jié)約束下的運(yùn)動(dòng)控制、多任務(wù)優(yōu)先級(jí)運(yùn)動(dòng)控制以及多約束下的運(yùn)動(dòng)控制等問題,相關(guān)成果應(yīng)用于工業(yè)機(jī)器人通用控制軟件平臺(tái)中,并且為機(jī)器人在復(fù)雜環(huán)境中的應(yīng)用提供有效的理論支持和技術(shù)方案。論文的主要研究?jī)?nèi)容如下:1)針對(duì)某些機(jī)械臂應(yīng)用場(chǎng)景中,姿態(tài)定向可以實(shí)現(xiàn)與定位等同的功能,本文提出了機(jī)械臂的姿態(tài)定向控制方法。通過引入四元數(shù)法,實(shí)現(xiàn)了姿態(tài)大范圍變化的連續(xù)參數(shù)表達(dá)。根據(jù)姿態(tài)定向特性,提出了誤差反饋形式,并且采用李雅普諾夫方法,證明了定向控制閉環(huán)系統(tǒng)的漸進(jìn)穩(wěn)定特性。采用姿態(tài)定向控制,相對(duì)于定位任務(wù),機(jī)械臂多了一個(gè)冗余度,從而提升機(jī)械臂的操作度,以及關(guān)節(jié)避障的能力。2)提出了關(guān)節(jié)約束下機(jī)械臂的運(yùn)動(dòng)學(xué)控制算法,鉗位加權(quán)最小范數(shù)算法。由于加權(quán)最小范數(shù)法的權(quán)值切換條件需要對(duì)關(guān)節(jié)速度進(jìn)行過零檢測(cè),因而容易受到干擾而發(fā)生錯(cuò)誤的權(quán)值切換判斷,導(dǎo)致關(guān)節(jié)速度指令不連續(xù)。本文將關(guān)節(jié)鉗位項(xiàng)引入到加權(quán)最小范數(shù)算法中,提出了鉗位加權(quán)最小范數(shù)算法。該算法采用連續(xù)權(quán)值,消除了原先的權(quán)值切換問題,并且引入鉗位任務(wù),有效地防止關(guān)節(jié)運(yùn)行至限位之外,促使關(guān)節(jié)遠(yuǎn)離限位。鉗位加權(quán)最小范數(shù)法適用于非冗余以及冗余機(jī)械臂。在主任務(wù)與關(guān)節(jié)限位不發(fā)生沖突的情況下,該方法可以確保主任務(wù)的精度。3)任務(wù)優(yōu)先級(jí)的控制算法是處理多任務(wù)的有效方法。然而,任務(wù)的有效性切換將會(huì)引起關(guān)節(jié)速度的不連續(xù)。本文提出一種新的零空間計(jì)算方式,并且給出了嚴(yán)格的數(shù)學(xué)證明。在此基礎(chǔ)上,提出連續(xù)的零空間算子以及矩陣逆計(jì)算,應(yīng)用于優(yōu)先級(jí)任務(wù)分層控制中,實(shí)現(xiàn)任務(wù)的有效性切換,并且保證關(guān)節(jié)速度的連續(xù)性。4)廣義加權(quán)最小范數(shù)法中的虛擬關(guān)節(jié)將一般約束問題轉(zhuǎn)化為關(guān)節(jié)約束問題處理。然而,虛擬關(guān)節(jié)轉(zhuǎn)換矩陣存在奇異問題,以及虛擬關(guān)節(jié)必須小于實(shí)際關(guān)節(jié)個(gè)數(shù)。另外,將多個(gè)約束轉(zhuǎn)化為一個(gè)虛擬關(guān)節(jié),且不允許多個(gè)約束同時(shí)觸發(fā),在實(shí)際中是難以滿足的。本文采用新的方式構(gòu)建虛擬關(guān)節(jié),解決了上述問題,并且將虛擬關(guān)節(jié)技術(shù)應(yīng)用于梯度投影法,加權(quán)最小范數(shù)法以及鉗位加權(quán)最小范數(shù)法中。
[Abstract]:With the rapid development of the robotics industry, the manipulator has penetrated into all aspects of industrial manufacturing and moved into the direction of medical and family services. According to the different applications, the structure of the manipulator is diversified, the number of joints varies from two joints to seven joints, and the capacity of load and speed is different. The motion control algorithm used is very important for different kinds of manipulator control. On the other hand, the communication rate of the industrial fieldbus can satisfy the real-time motion control requirements of the manipulator, and the computer running speed can also ensure that the complex algorithm is completed within the control cycle. Therefore, the manipulator begins to go from the original off-line. In addition, the operating environment of the robot is no longer single. In complex working conditions and dynamic environment, the manipulator motion control algorithm must have the ability to deal with multi task and multi constraint in the complex working conditions and dynamic environment. The seven joint table tennis developed by the laboratory is developed in this paper. The robot is a carrier. Through the combination of theoretical research and experimental simulation verification, the system has deeply studied the control of the attitude motion of the manipulator, the motion control under the joint constraints, the multi task priority motion control and the motion control under multiple constraints. The related achievements are applied to the general control software platform of industrial robots. And it provides effective theoretical support and technical scheme for the application of robot in complex environment. The main research contents of this paper are as follows: 1) in the application scene of some manipulator, the attitude orientation can be equal to the positioning. In this paper, the attitude direction control method of the manipulator is proposed. The four element method is introduced to realize the posture. According to the attitude orientation characteristic, the error feedback form is proposed, and the asymptotic stability characteristic of the directional control closed loop system is proved by the Lyapunov method. The attitude orientation control is used to improve the manipulator's operating degree by a redundancy relative to the positioning task. And the ability of joint obstacle avoidance (.2), the kinematics control algorithm and the clamp weighted minimum norm algorithm under the joint constraint are proposed. The weight switching condition of the weighted minimum norm method requires the zero crossing detection of the joint velocity, which is easy to be judged by the right value switching of the error, resulting in the discontinuity of the joint velocity instruction. In this paper, the joint forceps are introduced into the weighted minimum norm algorithm, and the forceps weighted minimum norm algorithm is proposed. The algorithm uses continuous weights to eliminate the original weight switching problem, and introduces the clamp task to effectively prevent the joint from running to the limit, so that the joint is far away from the limit. Redundancy and redundant manipulator. In the case of no conflict between the main task and the joint limit, the method can ensure the accuracy of the main task.3) the task priority control algorithm is an effective method to deal with the multitask. However, the task's effectiveness switching will cause the discontinuity of the joint speed. A new zero space computing party is proposed in this paper. On the basis of this, a continuous zero space operator and inverse matrix calculation are proposed. In the hierarchical control of priority tasks, the effectiveness of the task is switched, and the continuity of the joint velocity is guaranteed. The virtual joint in the generalized weighted minimum norm method transforms the general constraint problem into the.4. However, the virtual joint transformation matrix has a singular problem, and the virtual joint must be less than the number of actual joints. In addition, multiple constraints are converted into a virtual joint, and many constraints are not allowed to trigger at the same time. In this paper, a new method is used to construct virtual joints and solve the above mentioned above. The virtual joint technology is applied to the gradient projection method, the weighted minimum norm method and the clamping weighted minimum norm method.
【學(xué)位授予單位】：浙江大學(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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本文編號(hào)：2043573