【作者】 金媛媛；

【导师】 秦伟；

【作者基本信息】 重庆大学 ， 机械设计及理论， 2007， 硕士

【摘要】 机器人的运动学逆解是机器人控制的基础,其目的是将工作空间内机器人末端执行器的位姿转化成关节变量。通过运动学逆解可以实现对机器人末端执行器的空间位姿控制,在机器人的运动分析、离线编程、轨迹规划中具有非常重要的作用。传统的机器人求运动学逆解的方法很多,但存在求解困难、而且涉及多解和奇异性的不足之处。因此研究寻找一种具有普适性的算法将有利于机器人技术,如轨迹规划、位置控制和离线编程的发展。将混合驱动机构用于实验装置,以定转速电动机和伺服电动机作为驱动器,两种类型的输入运动通过一个多自由度机构合成后实现预期的输出运动。这种机构弥补了传统机械系统缺乏柔性和全伺服驱动机械系统因柔性过高而造成浪费的缺点,在理论上比较理想的解决了机械柔性化和保持高速、高效、高负载之间的矛盾,还可增加实验装置的扩展性,为适应设计性、综合性和创新性实验项目的开设提供了基础。本文研究了机器人逆运动学的数值优化数学模型,对机器人逆运动学的模拟退火自适应遗传算法进行了深入、系统的分析。将局部搜索能力强的模拟退火算法与全局搜索能力强的遗传算法相结合,采用自适应模拟退火及精英保留策略,首次提出了将模拟退火自适应变异遗传算法(GSA)运用于计算机器人逆解。并通过算例逐步调试出较合理的运行控制参数配置。仿真结果表明,该算法具有良好的鲁棒性、收敛性和收敛速度,解的精度较其他求解方法高,并且具有普适性。论文还开发了混合驱动实验装置控制系统,采用了高性能PC机和运动控制卡相结合的模块化结构,以通用PC机作为硬件平台,结合MPC07运动控制卡良好的控制性能,配以PanasonicMSMDT1205驱动系统,组成了混合驱动实验装置的经济型配置。系统软件基于Windows操作系统,采用Visual C++6.0以及面向对象、模块化的程序设计方法,编写了动态仿真、实时控制、参数化设计和人机交互界面程序。通过调试运行,本系统功能完善,界面友好直观,操作维护方便。更多还原

【Abstract】 The basal problem for control manipulator is the inverse kinematics of manipulator which purpose is to transformed position and posture of the end actuator into joint variables in workspace. By the inverse kinematics of manipulator, we can control the position and orientation of the end actuator in workspace, and it also plays a very important role in motion analysis, off-line programming, trajectory planning. There are a lot of traditional methods for seeking the inverse kinematics of manipulator, but have many deficiencies, such as difficult solution, singularity, multiple solutions. Therefore, seeking a universal algorithm will be benefit for the development of the robot technology,such as trajectory planning, position control and off-line programming.This paper developed the experimental equipment with hybrid-driven mechanism that is driven by constant speed motor and servomotor. Inputs from a uniform constant speed motor and a programmable motion servomotor would be summed in a mechanism with multiple degrees of freedoms, we can get an prospective output of the linkage. This mechanism makes up the disadvantage of a conventional hard without any flexibility; meanwhile it also reduces the cost because many applications don’t require much more flexibility. This mechanism can deal with contradictions between the programmable flexibility and the high speed, high precision, high load. And for experimental equipment that can meet designing, comprehensive and innovative experiment project have increased.This paper established the numerical optimization model of manipulator inverse kinematics. And made a systematically and deep analysis in the adaptive genetic algorithms based on simulated annealing for the inverse kinematics of the manipulator. Combined the global search ability of genetic algorithm with the local search ability of simulated annealing, this paper presented adopt GSA to calculate the inverse kinematics of the manipulator. The perfect and robust control parameters have been presented after the many simulations. The simulations showed that the algorithm is characterized by high precision, quick convergence and stable property. Secondly, Study through the paper, the control system of two degrees of freedoms hybrid-driven mechanism has been developed. The hardware platform of this system is a high quality PC and motion control card MPC07, PanasonicMSMDT1205 stepper motors, stepper motor drives. The system software is base on windows operating system, adopt Visual C++ 6.0 and object-oriented, modular programming approach to complete the program of dynamic simulate, real time control, parametric design, and man-machine conversation interface. Through experiment, it is satisfied by run stably, is convenient to be maintained and interface is friendly and intuitional.更多还原