摘要
随着科学技术的发展,机器人越来越多的接近了人们的生活,同时也引起了更多人的关注,在理论技术上不断的推陈出新。最初,人们把机械臂的研究作为重点,然而基座的固定使机械臂的工作空间严重受阻,因此,移动车的研究有效的解决了这种问题。众多学者在机器人研究中一般采用机械臂和移动车分别研究的方法,于是,将机械臂和移动车作为整体进行研究成为了一种新的思路。
本文在天津市滨海新区科技特派员科技专项----“基于Internet的移动机械手巡控系统”(SB20080074)和天津市高等学校科技发展基金项目----“移动机械手的网络控制技术研究”(2006BA11)的支持下,对移动机械手系统的相关问题进行了研究,主要内容如下:
首先,本文在把握移动机械手结构特征的基础上,将移动机械手分为机械手和移动平台两部分,分别建立了机械手和移动平台的运动学模型,最后建立了移动机械手的统一运动学模型。
其次,在运动学研究的基础上,分别建立了机械手和移动平台的动力学模型,运用拉格朗日动力学方法,推导出了移动机械手的统一动力学模型。
接着,本文对前面已建立的移动机械手和移动平台的运动学、动力学模型加以适当的运动控制算法进行轨迹跟踪控制,控制结果验证了建模的准确性。
最后,本文以移动机械手的协调控制作为一种新的思路,在建立了移动机械手统一运动学和统一动力学模型的基础上,分别采用混合控制算法和滑模控算法进行轨迹跟踪和探索验证。
With the development of science and technology, robots are more and more close to people's life and also attract more and more attention, and latest technology has been introduced into the robotic theory. Initially, people have put emphasis on the arm research, however, fixed base has seriously hindered the work space of arm. Therefore the mobile platforms' research has effectively solved this problem. The methods which are taken for the robot body and manipulator modeling and controlling respectively are usually used nowadays. As a result, combining the robotic arm and mobile platform as a whole has become a mind of thought on research.
Supported by the Tianjin Binhai New Area Science and Technology Project (SB20080074) and Tianjin High Education Technology Developing Foundation (2006BA11), some related researches on mobile manipulators have been carried out. The main contributions of this dissertation are summarized as follows:
First of all, on the basic of a comprehensive grasp of the structural characteristics, mobile platform and manipulator's kinematics model are established respectively. In the end, an integrated kinematics model is developed.
Secondly, based on the research of mobile manipulator’s kinematics, we establish the dynamics model for the mobile platform and the manipulator respectively. Then, employing the Lagrange method, we derive an integrated dynamics model for the mobile manipulator. Thirdly, built on those efforts, we put an appropriate motion control algorithm on trajectory tracking and the results are successful.
In the end, the paper proposed a new idea on coordinated control of the mobile manipulator. Hybrid control algorithm and sliding mode variable structure control algorithm are used for trajectory tracking and it has achieved a good result.
引文
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