【作者】 李刚俊；

【导师】 陈永；

【作者基本信息】 西南交通大学 ， 机械设计与理论， 2001， 博士

【摘要】 虚拟现实技术作为一门新兴的技术，目前在许多领域都开展了对虚拟现实技术的应用研究。而基于虚拟技术的远程操作及仿真是虚拟现实技术在机器人研究和应用中的主要方向。由于现代机器人工作任务变得日益复杂，要求机器人具有更多的自由度，于是冗余度机器人的应用越来越广泛。利用冗余度机器人关节的自运动，可以获得最优关节位形，改善机器人的运动学和动力学性能，完成诸如克服奇异性，避免关节转角极限，避免与障碍物的碰撞等复杂的操作任务。因此，关于冗余度机器人的研究引起了广大学者的极大兴趣，运动规划作为冗余度机器人研究的重要课题之一，不断探索和开发新的运动规划算法，研究和实现运动规划过程的可视化具有十分重要的现实意义。本学位论文系统地研究了一种新的运动规划算法，并实现了运动规划的虚拟仿真。概括起来，本学位论文的主要工作如下： 首先在分析和研究可视化技术发展和应用的基础上，讨论了虚拟对象的建模方法，虚拟现实系统的结构和设计方法，并结合虚拟现实技术的发展，提出了面向机器人的虚拟现实系统模型，探讨了它的集成环境，从而提高了机器人研究中人机结合的智能机制。 其次在分析和讨论近来机器人运动规划研究的基础上，提出了一种新的基于全局的求解冗余度机器人操作机点到点逆运动学问题的方法，提出了操作机运动路径图的概念，在存在关节限制、自碰撞和静止障碍物的情况下，可以实现操作机的初始位形空间到目标位形空间的自由位形空间的连接，对于给定的操作机，运动路径图一旦被建立，它作为一种普通而实用的数据结构，就能用于迅速地发现逆运动学问题的解集，因而具有很大的实用价值。 西南交通大学搏士研究生学位论文 第＊页 文章接着分析和讨论了完整性的不同形式和概念，从数学的角度论证了路径图算法具有解的完整性，从而完善了算法的理论基础。 文章最后讨论和研究了一种新的基于虚拟现实的机器人仿真系统，重点研究了基于OpenGL的冗余度机器人机械臂仿真环境建模，开发了一种基于虚拟模型的用于跟踪作业的运动规划算法，实现了冗余度机器人运动规划过程的可视化。更多还原

【Abstract】 As a new development in information technology Virtual Reality (VR) has been studied in many applied field at present, and VR-based remote operation and simulation is an important topic in the research of VR applicating in robotic manipulators. Now a day, the work of modern robots has been becoming more and more complicate, and robots with redundancy have been got increasing applications in the field of robotic manipulators. The additional degree of freedom in redundant robots can be used to avoid singularities, joint limits, and collisions, and to optimize performance. So many scholars are interested in the research of redundant robotic manipulators. Kinematic motion planning is one of the important subjects in the research of redundant robotic manipulators, and developing new algorithm, realizing intelligentization and visualization for the motion planning process are of very important realistic significance. In this thesis, systematic researches on the motion planning algorithm and VR-based simulation of the motion planning for the redundant robotic manipulators are conducted. The main studies in this thesis are as follows:Firstly, based on the analysis and studies of the development and application of visualization technology modeling method of virtual-object, the definition, characteristic, system structure and design method of virtual reality are introduced. Then the robot application oriented system VR modeling is established, and the integral environment of the VR system is studied, therefore the intelligent mechanism of man-machine integration in robotic research is increased.Secondly, based on the analysis of recent researches on motion planning, a novel method for globally solving for the point-to-point inverse kinematics ofrobotic manipulators with high redundancy is developed. The concept of motion road map for the manipulators is presented which can capture the connectivity of the connected components of the free configuration space from initial configuration to the objective configuration for the manipulators with constraints due to the joint limits, self-collision and obstacles in the environment. For a given manipulator the kinematic roadmap is once built, as a general universal and practical data structure it can be used to find a set of solutions for the inverse kinematics.In the third part of the thesis, various types and concepts of completeness are presented and discussed, and the completeness of kinematic roadmap algorithm is proved mathematically.Finally, a new VR-based simulation system for robotic manipulators is developed, and intensive studies on the modeling of virtual enviroment of redundant robot arm based on OpenGL technology have been conducted, and motion planning approach of path tracking based on virtual model is developed, and the visualization of the motion planning process of the robotic manipulators is realized as well.更多还原