助餐机器人样机研制及控制研究
摘要
近年来，由脑中风后遗症，脊髓损伤，肌肉、神经和大脑病变以及自然和人为灾害引起的手部功能残疾患者逐年增多，为了解决我国手部残疾患者的饮食护理问题，本文对助餐机器人进行了研究。一方面增强手残患者自主进餐的生活自信心，另一方面将护理人员从繁重的护理工作中释放出来，解放了社会生产力，对提高我国残疾人自主就餐水平、促进社会和谐进步具有重要的现实意义。
本文在国家科技型中小企业创新基金（08C26212301760）和哈尔滨市创新基金（2009RFKXG009）的资助下，针对如何开发一款实用、智能、安全、操作简单灵活的助餐机器人，在助餐机器人的机械结构、人机交互方式、运动规划、动力学、控制策略和视觉系统等方面进行了较深入的理论分析和实验研究。
通过对助餐机器人应用对象的症状分析，根据患者不同残障程度的需求，设计了一款由旋转餐桌和带有勺筷结合式餐具的助餐机械手组成的助餐机器人，对机器人的机构方案、控制方案和人机交互方式进行了总体方案研究。
对机器人进行了运动学分析；通过对机器人的助餐路径规划和助餐定向灵活工作空间分析，确定了机器人各连杆参数及在各助餐路径标识点机器人末端餐勺位姿参数；通过对机器人进行餐盘分区设计，使四餐盘中所有区域的食物规划到相对机械手的三类不同的取餐位置；对机器人进行了速度平滑的运动规划，规划的机器人轨迹加速度曲线连续，速度、位置曲线光滑，为机器人平稳助餐的控制系统研究奠定了基础。
利用拉格朗日方程建立了机器人动力学模型，利用MATLAB软件对助餐机器人进行了动力学特性分析。利用ADAMS软件建立了基于球形刚体和弹簧阻尼约束的正八面体食物模型，分析了勺筷结合式餐具和普通餐勺取餐时餐食的动力学特性及餐食盛取率问题，证明勺筷结合式餐具取餐效率高，取餐更优越。为了提高控制精度，除传统PID控制外，对机器人的整个助餐任务进行了模糊PID控制研究。对接触环境作业的助餐段，进行了阻抗控制研究，得出了阻抗参数调整规律，通过调整阻抗控制器参数，可使助餐机器人满足特定的柔顺性，在取餐过程中既不损伤机器人，也不损坏餐盘及餐食。
对助餐机器人视觉系统进行了研究，主要包括食物识别系统和残疾人头部识别视觉系统设计。食物识别系统是视觉系统模仿人类视觉去辨别餐盘中食物的分布情况，将得到的餐盘食物信息作为上位机信号，控制机器人完成助餐任务；头部识别视觉系统即通过采集患者的头部运动信息，作为失语的重度四肢残疾患者使用机器人的人机交互方式。
研制了助餐机器人样机，利用dSPACE半物理仿真实验平台对助餐机器人样机进行轨迹跟踪实验研究，验证了机器人机构的合理性及控制策略的可行性，进而验证了本文研制的助餐机器人能够达到帮助手残患者进行饮食护理的目的。
Recently, because of stroke sequelae and the lesions of spinal cord, muscles, nervesand brain, as well as natural and man-made disasters, the number of the patients disabled inthe hand increases year by year. In order to solve the diet care problem of the patients withhand disability, the research on meal-assistance robot has been done in the paper. On onehand, the robot enhances the self-confidence of the disabled to have meal on their own; onthe other hand, it can reduce the workload of the nursing staff and liberate the socialproductive forces. And it has great practical significance for improving the independentdining level of the disabled and promoting social harmony and progress.
With the funding of the National SME Innovation Fund (08C26212301760) andHarbin Innovation Fund (2009RFKXG009), in order to develop a meal assistance robotwhich is practical, smart, safe, simple and flexible, theoretical analysis and experimentalresearch of the meal assistance robot, in terms of the mechanical structure, man-machineinteractive mode, motion planning, dynamics analysis, control strategies and the visualsystem, have been carried out deeply.
Through the symptoms analysis of the application objects of meal assistance robot, andaccording to the needs of patients with different degree of disability, a kind of mealassistance robot was designed in the paper, which consists of a rotary table and amanipulator with spoon-chopsticks style tableware. A general research on the robot'smechanical structure, control scheme and man-machine interactive mode has been done.
Kinematic analysis, path planning and work space analysis of the robot have been donein the paper, and then the link parameters of the robot and the position and orientationparameters of the robot’s spoon at each track identification point have been decided. Theplate zoning design of the robot has been done, so that the food in four dishes is planned tothree different locations of the meal assistance manipulator. The motion planning in whichthe curves of velocity are smooth has been done, which lays the foundation for the controlstudy of the robot.
The dynamic model of the robot has been established based on Lagrange equations,and the dynamics analysis of the robot has been carried out using MATLAB software. Theoctahedral food model based on spherical rigid body constrained by spring-damper wasestablished using ADAMS software. Dynamics characteristics analysis and scoopingefficiency issues of spoon-chopsticks style tableware and a common spoon are analyzed,which verifies that spoon-chopsticks style tableware is better in getting food. In order to improve control accuracy, in addition to the conventional PID control, the fuzzy self-tuningPID control of the entire meal assistance task was carried out. In the meal assistance sectionof contacting environment operations, the study of impedance control was carried out andthe impedance parameter adjustment law was deduced. By adjusting the impedancecontroller parameters, meal assistance robot can meet specific flexibility. So the robot canavoid damage, as well as the plates and meal, through the process of taking meal.
The visual system research of the robot, including food recognition system and headidentify system has been done. Food recognition system imitates the human visual systemto identify the distribution of food in the plates, and then transmits the information into thehost computer, so as to control the robot to accomplish the meal assistance task. Headidentify visual system can collect the information of head movement, which is thehuman-computer interaction of aphasia patients with severe limb disabilities.
The robot prototypes is developed, and the trajectory tracking experiment is studied bydSPACE semi-physical simulation experimental platform. The reasonableness of the robotmechanical structure and the feasibility of the control strategy are verified. Thus, the mealassistance robot studied in the paper can achieve the diet care of the disabled in the hand.
本文在国家科技型中小企业创新基金（08C26212301760）和哈尔滨市创新基金（2009RFKXG009）的资助下，针对如何开发一款实用、智能、安全、操作简单灵活的助餐机器人，在助餐机器人的机械结构、人机交互方式、运动规划、动力学、控制策略和视觉系统等方面进行了较深入的理论分析和实验研究。
通过对助餐机器人应用对象的症状分析，根据患者不同残障程度的需求，设计了一款由旋转餐桌和带有勺筷结合式餐具的助餐机械手组成的助餐机器人，对机器人的机构方案、控制方案和人机交互方式进行了总体方案研究。
对机器人进行了运动学分析；通过对机器人的助餐路径规划和助餐定向灵活工作空间分析，确定了机器人各连杆参数及在各助餐路径标识点机器人末端餐勺位姿参数；通过对机器人进行餐盘分区设计，使四餐盘中所有区域的食物规划到相对机械手的三类不同的取餐位置；对机器人进行了速度平滑的运动规划，规划的机器人轨迹加速度曲线连续，速度、位置曲线光滑，为机器人平稳助餐的控制系统研究奠定了基础。
利用拉格朗日方程建立了机器人动力学模型，利用MATLAB软件对助餐机器人进行了动力学特性分析。利用ADAMS软件建立了基于球形刚体和弹簧阻尼约束的正八面体食物模型，分析了勺筷结合式餐具和普通餐勺取餐时餐食的动力学特性及餐食盛取率问题，证明勺筷结合式餐具取餐效率高，取餐更优越。为了提高控制精度，除传统PID控制外，对机器人的整个助餐任务进行了模糊PID控制研究。对接触环境作业的助餐段，进行了阻抗控制研究，得出了阻抗参数调整规律，通过调整阻抗控制器参数，可使助餐机器人满足特定的柔顺性，在取餐过程中既不损伤机器人，也不损坏餐盘及餐食。
对助餐机器人视觉系统进行了研究，主要包括食物识别系统和残疾人头部识别视觉系统设计。食物识别系统是视觉系统模仿人类视觉去辨别餐盘中食物的分布情况，将得到的餐盘食物信息作为上位机信号，控制机器人完成助餐任务；头部识别视觉系统即通过采集患者的头部运动信息，作为失语的重度四肢残疾患者使用机器人的人机交互方式。
研制了助餐机器人样机，利用dSPACE半物理仿真实验平台对助餐机器人样机进行轨迹跟踪实验研究，验证了机器人机构的合理性及控制策略的可行性，进而验证了本文研制的助餐机器人能够达到帮助手残患者进行饮食护理的目的。
Recently, because of stroke sequelae and the lesions of spinal cord, muscles, nervesand brain, as well as natural and man-made disasters, the number of the patients disabled inthe hand increases year by year. In order to solve the diet care problem of the patients withhand disability, the research on meal-assistance robot has been done in the paper. On onehand, the robot enhances the self-confidence of the disabled to have meal on their own; onthe other hand, it can reduce the workload of the nursing staff and liberate the socialproductive forces. And it has great practical significance for improving the independentdining level of the disabled and promoting social harmony and progress.
With the funding of the National SME Innovation Fund (08C26212301760) andHarbin Innovation Fund (2009RFKXG009), in order to develop a meal assistance robotwhich is practical, smart, safe, simple and flexible, theoretical analysis and experimentalresearch of the meal assistance robot, in terms of the mechanical structure, man-machineinteractive mode, motion planning, dynamics analysis, control strategies and the visualsystem, have been carried out deeply.
Through the symptoms analysis of the application objects of meal assistance robot, andaccording to the needs of patients with different degree of disability, a kind of mealassistance robot was designed in the paper, which consists of a rotary table and amanipulator with spoon-chopsticks style tableware. A general research on the robot'smechanical structure, control scheme and man-machine interactive mode has been done.
Kinematic analysis, path planning and work space analysis of the robot have been donein the paper, and then the link parameters of the robot and the position and orientationparameters of the robot’s spoon at each track identification point have been decided. Theplate zoning design of the robot has been done, so that the food in four dishes is planned tothree different locations of the meal assistance manipulator. The motion planning in whichthe curves of velocity are smooth has been done, which lays the foundation for the controlstudy of the robot.
The dynamic model of the robot has been established based on Lagrange equations,and the dynamics analysis of the robot has been carried out using MATLAB software. Theoctahedral food model based on spherical rigid body constrained by spring-damper wasestablished using ADAMS software. Dynamics characteristics analysis and scoopingefficiency issues of spoon-chopsticks style tableware and a common spoon are analyzed,which verifies that spoon-chopsticks style tableware is better in getting food. In order to improve control accuracy, in addition to the conventional PID control, the fuzzy self-tuningPID control of the entire meal assistance task was carried out. In the meal assistance sectionof contacting environment operations, the study of impedance control was carried out andthe impedance parameter adjustment law was deduced. By adjusting the impedancecontroller parameters, meal assistance robot can meet specific flexibility. So the robot canavoid damage, as well as the plates and meal, through the process of taking meal.
The visual system research of the robot, including food recognition system and headidentify system has been done. Food recognition system imitates the human visual systemto identify the distribution of food in the plates, and then transmits the information into thehost computer, so as to control the robot to accomplish the meal assistance task. Headidentify visual system can collect the information of head movement, which is thehuman-computer interaction of aphasia patients with severe limb disabilities.
The robot prototypes is developed, and the trajectory tracking experiment is studied bydSPACE semi-physical simulation experimental platform. The reasonableness of the robotmechanical structure and the feasibility of the control strategy are verified. Thus, the mealassistance robot studied in the paper can achieve the diet care of the disabled in the hand.
引文
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