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  本文選題：落貓現(xiàn)象　切入點：空中姿態(tài)調(diào)整　出處：《中國科學(xué)技術(shù)大學(xué)》2017年碩士論文

【摘要】：貓從高處墜落能安全落地的能力一直被研究者們關(guān)注。當(dāng)一只貓從高空跌落時,它總能通過姿態(tài)調(diào)整使四肢朝下,加上腿部具有減少地面沖擊作用,最終能實現(xiàn)安全落地。機(jī)器人在未知復(fù)雜環(huán)境下作業(yè)時,有從高處跌落的風(fēng)險,所以需考慮其空中的姿態(tài)調(diào)整能力,減輕由錯誤的著陸方式造成的傷害。因此研究落貓的空中翻正原理,將它的這些身體特點和運(yùn)動特征應(yīng)用到機(jī)器人上可期待解決機(jī)器人高空墜落的安全著陸問題。本文主要研究落貓機(jī)器人在自由下落過程中的最優(yōu)下落軌跡問題。首先把落貓機(jī)器人簡化為由兩個軸對稱剛體組成的雙剛體系統(tǒng),以其前后半身能否扭轉(zhuǎn)作為判別標(biāo)準(zhǔn),把機(jī)器人模型分為不可扭轉(zhuǎn)模型與可扭轉(zhuǎn)模型,分別建立了動力學(xué)方程。由于受到非完整約束的約束,落貓機(jī)器人系統(tǒng)是一個非完整系統(tǒng),該系統(tǒng)軌跡規(guī)劃問題可轉(zhuǎn)化為非完整運(yùn)動規(guī)劃問題。選擇機(jī)器人各關(guān)節(jié)耗能作為最優(yōu)控制目標(biāo)函數(shù),通過控制輸入?yún)��?shù)化方法把無限維最優(yōu)化問題轉(zhuǎn)化為有限維最優(yōu)化問題,運(yùn)用罰函數(shù)方法把有約束最優(yōu)化問題轉(zhuǎn)化為無約束優(yōu)化問題,分別采用擬牛頓算法和粒子群優(yōu)化算法求出目標(biāo)函數(shù)的最優(yōu)解。考慮到機(jī)器人做自由落體運(yùn)動時,一般下落高度固定,提供給其在空中進(jìn)行姿態(tài)調(diào)整的時間非常有限,因此相對于能量最優(yōu)化方法來講,縮短空中姿態(tài)調(diào)整時間要比減少能量消耗更加重要且具有實際意義,隨后首次提出了以時間最優(yōu)方式研究落貓機(jī)器人最優(yōu)下落軌跡問題。最后制作了虛擬樣機(jī)和實物樣機(jī),并分別在虛擬物理環(huán)境和垂直懸掛條件下,對樣機(jī)進(jìn)行了驗證實驗,結(jié)果顯示,兩種樣機(jī)都能實現(xiàn)空中翻正動作,進(jìn)而驗證了本文所提方法的有效性。本文最后對所取得的研究成果進(jìn)行了總結(jié),指出了目前研究中存在的不足之處,并對下一步的研究方向提供了自己的看法。
[Abstract]:The ability of a cat to fall safely from a height has been the focus of researchers. When a cat falls from a high altitude, it always adjusts its posture to lower its limbs, and the legs have the ability to reduce ground impact. The robot has the risk of falling from a height when it is operating in an unknown and complex environment, so it needs to consider its ability to adjust its attitude in the air. To reduce the damage caused by the wrong landing. The application of these body and motion features to the robot can be expected to solve the problem of safe landing of the robot falling from high altitude. This paper mainly studies the optimal falling trajectory of the cat-dropping robot in the process of free falling. First of all, the cat-dropping robot is simplified as a two-rigid-body system consisting of two axisymmetric rigid bodies. Based on the criterion of torsion in front and rear body, the robot model is divided into irreversible model and reversible model, and the dynamic equations are established respectively. Because of the constraint of nonholonomic constraint, the dynamic equations of the robot are established. Cat falling robot system is a nonholonomic system. The trajectory planning problem of the system can be transformed into a nonholonomic motion planning problem. The energy consumption of each joint of the robot is chosen as the optimal control objective function. By using the control input parameterization method, the infinite dimensional optimization problem is transformed into a finite dimensional optimization problem, and the penalty function method is used to transform the constrained optimization problem into an unconstrained optimization problem. Quasi Newton algorithm and particle swarm optimization algorithm are used to find the optimal solution of the objective function respectively. Considering that when the robot moves in free fall, the general falling height is fixed, and the time for attitude adjustment in the air is very limited. Therefore, compared with the energy optimization method, it is more important and practical to shorten the time of attitude adjustment than to reduce the energy consumption. Finally, the virtual prototype and the physical prototype are made, and the prototype is verified in the virtual physical environment and the vertical suspension condition, respectively. The results show that both of the two prototypes can realize the aerial righting motion, which verifies the effectiveness of the method proposed in this paper. Finally, the research results obtained are summarized, and the shortcomings of the present research are pointed out. And the next research direction to provide their own views.
【學(xué)位授予單位】：中國科學(xué)技術(shù)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242

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