發(fā)布時(shí)間：2018-03-13 02:23

  本文選題：路徑規(guī)劃　切入點(diǎn)：作業(yè)規(guī)劃　出處：《哈爾濱商業(yè)大學(xué)》2017年碩士論文　論文類型：學(xué)位論文

【摘要】：在各種試探性應(yīng)用中,人們發(fā)現(xiàn):對(duì)于復(fù)雜的環(huán)境、交錯(cuò)的作業(yè)任務(wù),單體機(jī)器人有時(shí)顯得力不從心。于是,同時(shí)運(yùn)用多個(gè)單體機(jī)器人,通過(guò)多機(jī)器人之間的分工協(xié)作來(lái)完成任務(wù)的思路開(kāi)始出現(xiàn)。相比于單體機(jī)器人,多機(jī)器人的協(xié)作具有諸多明顯的優(yōu)勢(shì):第一,多個(gè)機(jī)器人在任務(wù)執(zhí)行過(guò)程中可以分布式排列,增大作業(yè)空間和覆蓋范圍;第二,多個(gè)機(jī)器人可以實(shí)現(xiàn)并行方式的作業(yè),加快任務(wù)的完成速度;第三,多個(gè)機(jī)器人之間可以實(shí)現(xiàn)信息通信,建立局部到全局的信息網(wǎng)絡(luò);第四,多個(gè)機(jī)器人之間的協(xié)同配合,有利于完成大型的復(fù)雜任務(wù)。本文針對(duì)多機(jī)器人協(xié)作這一問(wèn)題展開(kāi)研究,開(kāi)展得具體工作如下:第一,深入分析了基于人工勢(shì)場(chǎng)法的機(jī)器人路徑規(guī)劃策略,明確了其存在兩個(gè)問(wèn)題:目標(biāo)不可達(dá)問(wèn)題,容易陷入局部極小陷阱問(wèn)題。針對(duì)這兩個(gè)問(wèn)題進(jìn)行了改進(jìn),對(duì)斥力場(chǎng)函數(shù)進(jìn)行修正,增加各機(jī)器人之間的信息交流,進(jìn)而提出了改進(jìn)人工勢(shì)場(chǎng)法模型,有效地解決了多機(jī)器人的路徑規(guī)劃問(wèn)題。第二,從齊次變換、旋轉(zhuǎn)變換的空間位置關(guān)系的基本理論出發(fā),對(duì)機(jī)器人正運(yùn)動(dòng)學(xué)、機(jī)器人逆運(yùn)動(dòng)學(xué)等理論進(jìn)行了深入的分析。在此基礎(chǔ)上,分析了三自由度機(jī)器人,構(gòu)建了其雅可比矩陣,并對(duì)其末端進(jìn)行了作業(yè)軌跡規(guī)劃分析,得出了其過(guò)渡時(shí)間、加速度曲線、速度曲線、位移曲線,為后續(xù)的多機(jī)器人協(xié)作作業(yè)奠定了運(yùn)動(dòng)學(xué)基礎(chǔ)。第三,在機(jī)器人路徑規(guī)劃、機(jī)器人運(yùn)動(dòng)學(xué)分析、機(jī)器人作業(yè)軌跡規(guī)劃等研究的基礎(chǔ)上,對(duì)多機(jī)器人的協(xié)作作業(yè)進(jìn)行了仿真實(shí)驗(yàn)研究。搭建多機(jī)器人協(xié)作平臺(tái),完成重物抓取和重物搬運(yùn)等仿真試驗(yàn),驗(yàn)證避碰理論以及作業(yè)規(guī)劃理論的有效性。
[Abstract]:In all kinds of tentative applications, it has been found that for complex environments and interlaced tasks, monolithic robots sometimes seem to be unable to cope with them. So, multiple monolithic robots are used at the same time. The idea of accomplishing tasks through the division of labor and cooperation among multi-robots is beginning to emerge. Compared with single-robot, the cooperation of multi-robots has many obvious advantages: first, multiple robots can be arranged distributed in the course of task execution. Increase the job space and coverage; second, multiple robots can achieve parallel operations, speed up the completion of tasks; third, multiple robots can achieve information communication, building local to global information network; 4th, The cooperative cooperation among multiple robots is beneficial to the completion of large and complex tasks. In this paper, the problem of multi-robot cooperation is studied, and the specific work is as follows: first, In this paper, the robot path planning strategy based on artificial potential field method is deeply analyzed, and two problems are clarified: the problem of target unreachability and the problem of falling into local minima trap. The repulsion field function is modified to increase the information exchange among the robots, and then an improved artificial potential field model is proposed, which effectively solves the path planning problem of multi-robots. Based on the basic theory of spatial position relation of rotation transformation, the forward kinematics and inverse kinematics of robot are deeply analyzed. On this basis, a 3-DOF robot is analyzed and its Jacobian matrix is constructed. Finally, the transition time, acceleration curve, velocity curve and displacement curve are obtained, which lays the kinematics foundation for the subsequent multi-robot cooperative operation. Third, in the robot path planning, On the basis of robot kinematics analysis and robot trajectory planning, the simulation experiments of multi-robot cooperative operation are carried out. The platform of multi-robot cooperation is built, and the simulation experiments such as grabbing heavy objects and carrying heavy objects are completed. Verify the effectiveness of collision avoidance theory and operational planning theory.
【學(xué)位授予單位】：哈爾濱商業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242

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