【作者】 李斌；

【导师】 张明路；

【作者基本信息】 河北工业大学 ， 机械电子工程， 2006， 硕士

【摘要】 移动机械手(Mobile Manipulator)系统是由一个或若干个机械手固定在移动平台上构成,机械手用来实现一些动作如抓取、操作等,这种结构使机械手拥有几乎无限大的工作空间和高度的运动冗余性,并同时具有移动和操作功能,这使它优于移动机器人和传统的机械手。本文在国家863项目“危险化学反应器泄漏检测与修补移动机械手系统”(2003AA421040)的支持下,以美国ActivMedia Robotics公司生产的Pioneer 3-AT型移动机器人和本实验室自主研制的五自由度机械手为研究对象,对移动机械手运动学解耦和五自由度机械手仿真进行了研究,主要研究内容如下: 首先,分析了机械手的功能,完成了五自由度机械手的机械结构方案设计,并设计搭建了机械手控制系统,详细介绍了机械手的PMAC控制器及其参数设定和编程。 其次,在深入研究五自由度机械手的运动学问题的基础上,用D-H法建立了五自由度机械手运动学模型并分析了机械手的关节速度与雅可比矩阵;在分析完整约束与非完整约束的基础上,建立了移动平台的运动学约束模型,并用微分法得到了移动平台的离散模型。进而建立了移动机械手系统的运动学模型。采用最近邻聚类算法的RBF神经网络对移动机械手的机械手和车体协调运动进行了解耦。仿真的结果证明了所用方法的合理性和有效性。 最后,利用MATLAB软件擅长数值计算、能处理大量的数据、绘图功能强的特点,编制了五自由度机械手的运动学分析计算及动画仿真程序,可以对不同结构参数的五自由度机械手模型进行运动分析及仿真,同时程序还实现了运动模型的三维可视化,为机械手的结构设置和轨迹规划提供可靠依据。更多还原

【Abstract】 Mobile manipulator system is composed of a mobile platform and one or several manipulators. The manipulator can be used to realize some action, such as grasp,manipulation and so on. This configuration make the manipulator possess of almost infinity workspace and the high kinetic redundancy and have the function of movement and manipulation, from this point of view,it’s better than the mobile robot and traditional manipulator. This paper makes systemic research on kinematics decoupling of mobile manipulator and simulation of five DOF manipulator, supported by Hi-tech Research and Development Program of China (No. 2003AA421040). The object of research is Pioneer 3-AT mobile robot made by ActivMedia Robotics Company of USA and the five DOF manipulator developed by our lab. What followed are the main contents:Firstly, based on the analysis on the function of manipulator, the project design of the mechanical construction of five DOF manipulator is achieved and the control system is built. The parameter setting and program of PMAC (Programmable Multi-Axis Controller) are particular introduced.Secondly, based on the further research of the kinematics of five DOF manipulator, kinematics model is made with the method of D-H, joint velocity and Jacobian matrix are also carried out. Based on the analysis of holonomic constraint and nonholonomic constraint, the kinematics constraint model of nonholonomic constraint platform is built, then, the discrete model is built using the method of differential. Moreover, the kinematics model of the mobile manipulator system is made. RBF (radial basis function) neural network using the nearest neighbor-clustering algorithm is established for kinematics decoupling which brought by coordinated motion between the manipulator and mobile platform of mobile manipulator system. The simulation shows the method reasonable and effective.Finally, the program is carried out for kinematics analysis,calculation and flash simulation by use of MATLAB language which is good at numeric computation ,handle large data and plot data picture.this program can be used to analysis and simulate the five DOF manipulator of different configuration, meanwhile, it can be used to realize the real-time 3-D cartoon for the kinematics model and provide dependable grounds for configuration setting and trajectory planning.更多还原