【作者】 俞刚；

【导师】 李立；

【作者基本信息】 西南交通大学 ， 机械设计及理论， 2007， 硕士

【摘要】 有着广阔应用前景的高冗余度柔性机器人系统是一个高度耦合的非线性系统，包含着复杂丰富的运动动力特性。因此，很有必要深入研究其内在运动规律，为改善这类机器人的工作性能提供重要的依据和方法。本论文对利用高冗余度柔性机器人自运动特性进行减振规划和回避奇异方面的主要研究工作如下：首先，基于有限元方法和拉格朗日方程，以单元弹性变形为广义坐标，建立了高冗余度柔性机器人的动力学模型。其次，在分析机器人零空间任意矢量和振动抑制关系的基础上研究了高冗余度柔性机器人的自运动减振问题。提出了以最小化机器人整个运动过程中振动峰值的平均值为优化目标，采用余弦规律来规划自运动矢量的末端振动控制方法。将该方法分别应用于一个平面6R柔性冗余度机器人和一个平面8R柔性冗余度机器人的自运动减振规划，获得了较为满意的振动控制效果。最后，利用混沌理论研究了高冗余度柔性机器人的自运动状态。通过混沌识别的数值方法，发现了基于Jacobian矩阵的伪逆方法并采用PD控制器控制其末端重复跟踪工作空间内的一条封闭路径时，一个平面6R柔性冗余度机器人的自运动是混沌的。并通过与一个结构参数和工作任务完全相同的平面6R刚性冗余度机器人的最大Lyapunov指数进行比较，发现柔性机器人的混沌现象更为明显。借助于MATLAB软件完成了本论文的建模、优化及仿真工作。更多还原

【Abstract】 Highly-redundant flexible robot with extensive prospective applications is highly coupling and nonlinear with plenty of complex kinematic and dynamic behaviours. So, it’s of significance to investigate the motion features of such robot to improve its working performance. In this thesis, the vibration control and singularity avoidance of highly-redundant flexible robot are studied from the self-motion point of view as follows.Firstly, based on the finite element and the Lagrange equation, dynamic equation of a highly-redundant flexible robot is modeled by taking the unit elastic deformation as the generalized coordinates.Secondly, a modified vibration control method is developed based on the relations between the arbitrary vector in the null space and the vibration of the end-effector. In the method, to minimize the mean value of the vibration peaks in one motion cycle is the optimized goal, and the cosine rule is adopted to design the arbitrary vector for the purpose of vibration suppression. The application of the method to the vibration control of a planar 6R and a planar 8R flexible robot shows its feasibility.Finally, the self-motion state of highly-redundant flexible robot is explored by using chaos theory. The numerical simulations by means of the chaotic recognition methods show that, the self-motion of a planar 6R flexible robot under the pseudoinverse control with PD controller is chaotic when the end-effector traces a closed-path repeatedly in the workspace. It is also found that, under the same conditions, the chaotic motion of a flexible robot is more obvious than that of a planar 6R rigid robot by comparing their largest Lyapunov exponents.The dynamic modeling, optimization and simulations in this thesis are conducted utilizing Matlab.更多还原