【作者】 刘兵；

【导师】 张明路；

【作者基本信息】 河北工业大学 ， 机械电子工程， 2005， 硕士

【摘要】 随着我国石化工业的发展,各类化学反应容器和输送管道的泄漏检测与维修已经成为石化工业亟待解决的关键技术。由于泄漏化学品的危害性,具有自主能力的移动机械手便成为代替、辅助人类完成高度危险性修补作业的最佳选择。同时,移动机械手在拆卸易爆、易燃物品,以及防爆、反恐等社会公共安全和军事方面也具有广泛的应用前景。本文在国家863计划项目“化学危险反应器泄漏检测与修补移动机械手系统”(项目编号:2003AA421040)的支持下,对移动机械手协调控制技术进行了研究。 首先,本文论述了P3-AT型移动机械手的基本结构特征,建立五自由度机械手和轮式移动车体的子运动学模型,利用机械手逆运动学和速度分解控制方法实现了机械手和移动车体的协调控制,机械手末端执行器运动轨迹转化为机械手和车体各关节的分运动,完成了笛卡尔坐标空间到关节空间的运动变换。 其次,本文建立了机械手和轮式车体的子动力学模型,并在此基础上建立了移动机械手的动力学模型。由此确立力、质量和加速度以及力矩、惯量和角加速度之间的关系。再根据机械手末端执行器和车体的运动情况完成相应关节力矩的计算,以使它们能以期望的加速度和速度运动,保证良好的位置精度。 最后,利用人工神经网络在学习、容错等方面的特点设计了移动机械手控制器,分别对移动机械手的机械手和车体两部分的协调运动进行解耦和补偿,实现移动机械手在复杂的动态环境下的协调运动。更多还原

【Abstract】 With the development of petrochemical industry of our country, the measurement and maintenance for the chemistry leakage from chemistry reactors and pipelines has become necessary technology to petrochemical industry. Because of the harmfulness of the chemicals, the mobile manipulator with independent ability becomes the best choice of mending work, replacing or helping mankind finish the highly dangerous work. At the same time, mobile manipulator has a brand new future in social public security and military affairs, for example dismantling explosives or tinder, anti-terrorism, etc. The thesis is carried on the research to the coordination-controlling for mobile manipulator, supported by a National Program 863 item-"The Mobile Manipulator system aimed at measurement and maintenance, working in the circumstance of chemistry dangerous leakage from the chemistry dangerous reactor"(item serial number: 2003 AA421040).First, describe P3-AT mobile manipulator basic structure characteristics and establish kinematics sub-models-5 degree of freedom manipulator and wheeled mobile vehicle. Utilize KP(Inverse Kinematics Problem) of manipulator and RMRC(Resolved Motion Rate Control) to realize coordination-control between manipulator and mobile vehicle. And the traces followed by manipulator’s effector transform to the locomotion of the manipulator and mobile vehicle, at same time, realize the transformation from Cartesian coordination to joint coordination.Secondly, based on dynamics sub-models-manipulator and wheeled mobile vehicle, the whole dynamics model of mobile is established. So the relations between force, mass and acceleration, torque, inertia and angle acceleration is explained. At last, finish the calculation of the corresponding joint torque according to the movements of the manipulator and mobile manipulator in order to guarantee the better position precision and expected speed and acceleration.Thirdly, utilizing the excellent characteristics of artificial neural network in studying and fault-tolerant,design mobile manipulator controllers separately to solve the coupling between manipulator and mobile vehicle and compensate the torque in order to realize the coordination movements between manipulator and mobile vehicle.更多还原