【作者】 王瑞茂；

【导师】 余跃庆；

【作者基本信息】 北京工业大学 ， 机械设计及理论， 2003， 硕士

【摘要】 机器人学是一门涉及到电子学，计算机科学，控制理论，传感技术，机械工程，仿生学，人工智能等方面的交叉学科。柔性机器人协调操作是机器人研究领域的前沿课题之一，由于难度较大，目前国内外在此方面的研究成果还十分有限。到目前为止，这些研究主要是针对动力学建模和仿真的，关于柔性机器人协调操作系统运动规划的研究还很少。本文在这方面进行了初步探索。首先，对柔性机器人协调操作进行了点到点的运动规划。对机器人关节运动补偿原理进行了阐述，提出了对机器人关节进行运动补偿来提高被操作物体在轨迹末端点的定位精度的规划方法。根据被修正关节的个数，把它分为六种规划情况，对每种情况都进行了数值仿真，并分析了每种情况所得的结果。其次，对柔性机器人协调操作进行了连续轨迹的运动规划。根据连续轨迹的协调操作运动规划的特点，提出了三种不同的方法进行运动规划，即：第一种是把运动时间划分为四段进行运动规划，第二种是考虑到段与段之间的运动平稳性，在段与段之间用三次函数进行过渡，第三种是为了使机器人运动更加平稳和运动规划更加简单，把运动时间划分为三段，并在段与段之间用五次函数进行过渡，每种方法都是对前一种方法逐步改进。多种数值计算结果说明了各种方法的优缺点，最终总结出了理想的规划方案更多还原

【Abstract】 Robotics is an advanced subject involving electronics, computer science, control theory, sensor technology, mechanical engineering, bionics, artificial intelligence and so on. The cooperation of flexible manipulators is one of the most important topics in the robotics research. So far the research is mainly on the dynamic modeling and numerical simulation of flexible coordinated manipulators. The study of the motion planning of flexible coordinated manipulators is very little. In this thesis, the motion planning of two flexible planar cooperative robots has been studied for the first time. Firstly, a point-to-point motion planning of the cooperation of flexible manipulators is presented. The method of motion planning is put forward to increase the position accuracy of the operated object by joint motion compensation. According to the different number of the planned joints, six motion planning instances are presented, and the numerical simulations are given and analyzed in each case.Then, a continuous track motion planning of the cooperation of flexible manipulators is discussed. According to the characteristics of the continuous track motion planning, three methods of motion planning are proposed. The first one is to divide the motion time into four segments. The cubic polynomial is used in the second one for the stabilization of robot motion. The third one is to divide the motion time into three segments with the quintic polynomial transition segments. The numerical results show the merit and shortcoming of each one. The perfect planning scheme is summarized in the end更多还原