【摘要】：近些年,在星際探測、復雜地形的搶險救災、海底作業(yè)、野外監(jiān)測、軍事偵查等特殊危險作業(yè)行業(yè)中,任務難度越來越高,不適合人類去完成,這促使人們不斷研究機器人技術,用機器人代替人類去完成艱巨的任務。本文針對帶有變形關節(jié)的新型六足仿生機器人,深入研究了其單腿運動學、動力學和運動控制及并聯(lián)機身運動學。主要工作如下:(1)利用旋量理論與指數(shù)積方法建立腿部運動學模型并給出了運動學顯式逆解,針對腿部后兩關節(jié)軸線交于一點的特點,結合經典消元理論和Paden-Kahan子問題方法計算其運動學顯式逆解;基于旋量法計算擺動腿的雅可比矩陣,仿真結果驗證了其正確性。(2)為了提高六足機器人腿部控制的平穩(wěn)性、動作快速性,利用五次B樣條曲線進行了關節(jié)空間軌跡規(guī)劃,從而使關節(jié)運動的速度、加速度和脈動連續(xù)。利用B樣條曲線的凸包性把腿部關節(jié)速度與加速度的曲線約束轉化為對曲線控制頂點的約束。(3)當六足機器人處于三足支撐階段時機體為3-URR并聯(lián)機構,利用旋量理論和指數(shù)積方法建立其正運動學模型,利用消元理論和Paden-Kahan子問題方法建立其逆運動學模型,為進行六足機器人并聯(lián)動力學分析和控制打下基礎。(4)利用Kane動力學分析方法,建立了機器人單個可變形腿的逆動力學模型;可用于單個可變形腿運動控制器的設計;分析了關節(jié)轉動速度和轉動加速度對驅動力矩產生的影響,并分析了各關節(jié)驅動力矩中慣性力矩、向心力矩、哥氏力矩及重力矩所占的比例,分析結果有助于進一步規(guī)劃機構的運動,優(yōu)化機構設計和選擇適當功率的電機。(5)設計了計算力矩加RBF神經網絡復合控制器,其中計算力矩是已建模的部分,神經網絡補償動力學模型中未建模部分、結構參數(shù)的測量誤差以及外部擾動。采用仿真和實驗對腿部的軌跡跟蹤控制進行了驗證,結果表明了該控制器跟蹤精度高,控制性能優(yōu)良。
[Abstract]:In recent years, in the fields of interstellar exploration, rescue and relief of complex terrain, submarine operations, field monitoring, military reconnaissance and other special dangerous operations, the tasks are becoming more and more difficult and are not suitable for human beings to complete. This has prompted people to continue to study robot technology, using robots to replace human to complete the arduous task. In this paper, the kinematics, dynamics, motion control and kinematics of a new six-legged bionic robot with deformed joints are studied. The main work is as follows: (1) the kinematics model of leg is established by spinor theory and exponential product method, and the explicit inverse kinematics solution is given. The explicit inverse kinematics solution is calculated by combining classical elimination theory and Paden-Kahan subproblem method. The Jacobian matrix of swinging leg is calculated based on spinor method, and the simulation results verify its correctness. (2) in order to improve the stability of leg control of six-legged robot and the speed of action, the joint space trajectory planning is carried out by using the five-degree B-spline curve. Thus, the velocity, acceleration and pulsation of joint motion are continuous. By using the convexity of B-spline curve, the curve constraint of the velocity and acceleration of the leg joint is transformed into the constraint on the control point of the curve. (3) when the six-legged robot is in the three-legged support stage, the body is a parallel mechanism of 3-URR. The positive kinematics model is established by spinor theory and exponential product method, and the inverse kinematics model is established by means of elimination theory and Paden-Kahan subproblem method. It lays a foundation for parallel dynamics analysis and control of hexapod robot. (4) the inverse dynamic model of a single deformable leg of a robot is established by using Kane dynamic analysis method. It can be used in the design of single deformable leg motion controller. The effect of rotation speed and acceleration on the driving torque is analyzed, and the proportion of inertia moment, centripetal force moment, Coriolis moment and weight moment in the drive moment of each joint is analyzed. The analysis results are helpful to further plan the movement of the mechanism, optimize the mechanism design and select the motor of appropriate power. (5) the compound controller of calculating torque and RBF neural network is designed, in which the calculated torque is the part of the model. The unmodeled part of the neural network compensates the dynamic model, the measurement error of the structural parameters and the external disturbance. The trajectory tracking control of the legs is verified by simulation and experiment. The results show that the tracking accuracy of the controller is high and the control performance is good.
【學位授予單位】：河北工業(yè)大學
【學位級別】：博士
【學位授予年份】：2016
【分類號】：TP242

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