移动机器人的避障导航与移动机械手的容碰控制

【作者】 谢昭贤；

【导师】 黄大贵；

【作者基本信息】 电子科技大学 ， 机械电子工程， 2005， 硕士

【摘要】 机器人在各式各样的工业生产中得到了广泛的应用,比如汽车制造业、集成电路制造业以及其它很多大批量生产的制造业等;大多数的这类应用都是在高度受限的结构化环境中进行的。然而,对一些需要机器人与人相处的应用来说,尤其在服务业领域方面,对环境的这种严格假设就显得很不合理;当机器人应用于这些领域时,机器人往往需要运动于诸如办公室、医院等密集和动态环境中,对具有不同物理特性的物体进行操作并通过与人们的交互来完成一定的任务。因此,对移动机器人和移动机械手的研究近年来已经引起了人们越来越多的重视。本文主要围绕着两个方面进行研究:移动机器人的避障导航和移动机械手的容碰控制。在第一部分研究内容中,提出了一种基于同时发射声纳环进行障碍检测并采用动态窗口法进行运动规划从而实现快速障碍回避的避障导航系统。声纳环的同时发射会造成两种类型的串话干扰:直接路径串话干扰和间接路径串话干扰。为了去除串话干扰导致的错误数据,本系统通过基于神经网络模式识别的过滤方法以及运动映射直方图方法来对其进行处理,并最终在由24 个声纳传感器组成的声纳环上实现了66Hz 的全景扫描。实际的导航实验表明,该避障导航系统适用于室内未知环境下的移动机器人高速导航。在第二部分研究内容中,针对处在人-机共生环境中的移动机械手,提出了一种新的由混合关节和遮盖有柔性材料连杆组成的物理实体模型来作为移动机械手与人类发生碰撞时对人类进行保护的安全结构。当发生意外的碰撞时,混合关节可以通过主动/被动模式的切换来有效地削弱碰撞产生的冲击力。但与此同时,机械手末端执行器也会由于被动模式下关节的运动而偏离碰撞前所处的位置,从而影响任务的继续执行。针对上述情况,有必要提出相应的复位控制算法,以便末端执行器在碰撞后仍然能够维持在期望位置上完成任务的执行。仿真和实验结果表明,该物理实体模型适用于工作在人-机共生环境中的移动机更多还原

【Abstract】 Robotic technology has found widespread application in many industrial tasks, such as the manufacturing of cars, integrated circuits and numerous other high-volume products. Most applications share the characteristic of being performed in structured and highly constrained environments. However, there are many industrial or domestic applications, particularly the ones in the area of service, for which it is simply unreasonable to make such strict assumptions about the environment. Typical tasks in these areas require motion in populated and dynamic environments, manipulation of a wide range of objects with varying physical properties, and interaction with humans. So, research on mobile robots and mobile manipulators has been paid more and more attention in recent years. The focus of this dissertation can be divided into two parts: obstacle-avoidance navigation for mobile robot and collision-tolerant control for mobile manipulator. On the first subject of this dissertation, a navigation system using simultaneously-firing sonar ring and adopting the dynamic windows approach has been developed. The crosstalk in the simultaneous firing can be classified into two types: direct-path crosstalk and indirect-path crosstalk. To eliminate error data due to direct-path crosstalk, a filter method based on pattern matching using neural network is used in the system. At the same time, the histogrammic in motion mapping method is adopted to deal with indirect–path crosstalk. As a result, a scanning rate up to 66Hz of panoramic detection for a prototype of sonar ring consisting of 24 sonar sensors is achieved. The experimental results showed that the navigation system is applicable to high-speed navigation for mobile robot in unknown indoor environments. On the second subject of this dissertation, a human-symbiotic safe mobile manipulator to realize human safety, impact force absorbing and task fulfillment is described. The robot consists of an arm covered with soft materials and hybrid joints, which can be put into active or passive mode as needed. In an unexpected or expected collision with human, the arising impulse force is attenuated effectively by the physical model formed with the hybrid joint and the soft material. Owing to the更多还原