【作者】 张艳；

【导师】 史金飞；

【作者基本信息】 东南大学 ， 机械电子工程， 2006， 硕士

【摘要】 过去40年以来,机器人作为人类的伟大发明广泛应用于各个行业。随着柔性自动化系统的发展,冗余操作受到了研究学者和企业越来越多的重视。到目前为止,针对冗余机器人已经有学者作了大量的研究工作。其中大部分是理论研究,主要集中于运动学的规划与优化,尤其是避障的情况下的研究。研究表明运动学规划在冗余机器人研究领域起到了非常重要的作用方向。本文对冗余机器人的运动学路径规划进行了研究。研究了3自由度平面机器人的包括位置运动学和逆运动学在内的运动学特性,建立了基于人工势场法的模型来求解机器人的逆运动学,获得了精确解。本文引入了伪最小平移的概念,并基于此对路径规划算法进行了研究。为了便于进行研究,有必要开发冗余机器人的仿真器。因此在本研究过程中,开发了一个基于OpenGL的仿真器。并将仿真结果与当前理论研究的结果进行了详细比较。证明了仿真器和理论研究的有效性。更多还原

【Abstract】 In recent 40 years, robot as the human’s big invention has speed into all kinds of occupation. Along with the improvement of the flexible and autonomous system, the redundant operation was regarded more and more important by the scholars and the manufactures. Up to now, there have been numerous studies about redundant robots. Most of them were theory researches, mainly on kinematical planning and optimization, especially in the case of obstacle avoidance. It shows that the kinematical planning play a very important role in the research field of redundant robots.In this thesis, some issues on path planning of kinematical redundant robots are studied. According to a planar 3DOF robot, kinematics characteristic including both the positive kinematics and the inverse kinematics of the robot are investigated. To obtain the inverse kinematics of the robot, a model of the artificial potential field (APF) is built. The mathematical solution is obtained. The concept of the virtual obstacle displace is introduced in the thesis. And a path planning algorithm based on the virtual obstacle displace is investigated.For the convenience of research, it is necessary to develop an emulator system for redundant robots. An OpenGL based simulator is developed in the thesis. The simulation result of the theory researches is presented with a detailed comparing analysis. And the simulation shows certify the efficiency of both the theory research and the simulator.更多还原