| 题名 | 双臂机器人运动灵巧性指标及其应用研究 |
| 作者 | 郭鹏 |
| 学位类别 | 硕士 |
| 答辩日期 | 2017-05-24 |
| 授予单位 | 中国科学院沈阳自动化研究所 |
| 授予地点 | 沈阳 |
| 导师 | 房灵申 |
| 关键词 | 双臂机器人 机器人灵巧性指标 机器人运动学 双臂位姿优化 |
| 其他题名 | Research on Dexterity Index of Dual Manipulators and Its Application |
| 学位专业 | 机械电子工程 |
| 中文摘要 | 本文的内容可分为两大部分，第一部分为在对传统的双臂机器人灵巧性指标研究的前提下，基于雅克比矩阵与其转置的乘积（）的几何平均数和算术平均数的特点，将单臂指标通过乘积的形式构造为新型的双臂机器人各向同性测度指标(Dual Arm Isotropy Measurement-DAIM)，并基于梯度投影法设计了平面双臂机器人形式的机器人逆运动学算法，然后，在Matlab Simulink中进行了同另外若干种经典的运动灵巧性指标的对比仿真实验，绘制了两只机械臂在运动过程中的关节空间轨迹、条件数、可操作性测度指标随时间的变化情况，结果表明该新型指标具有独特的优势，这部分研究内容为设计双臂机器人的逆运动学算法提供了参考。 文章的第二大部分内容为基于扩展任务的双工业机器人系统进行位姿优化。该部分内容是基于最近被提出的一种通用的冗余机械臂的位姿优化方法的扩展研究。首先对双臂机器人的协调任务进行了运动学分析和建模，参考增广矩阵方法，结合上文中提出的双臂各向同性指标（DAIM），对优化问题进行了数学描述。然后利用蒙特卡洛方法采样出最优姿态附近的关节空间样本点，进行函数拟合，建立扩展任务（主机械臂位姿）和相对位姿的关系式。最后进入仿真验证阶段，在ABB公司开发的Robot Studio仿真环境软件中搭建双6轴工业机械臂环境，给出了双臂协调操作任务算例，并对双机械臂进行运动编程，仿真结果表明，若使用拟合出的扩展任务关系式，两只6轴机械臂在运动过程中均会离开奇异位形，且条件数指标都会有减小的趋势，DAIM测度指标会变大，结果表明利用通用冗余的位姿优化方法结合本文提出的DAIM测度指标成功地实现了对双6轴工业机械臂系统位姿优化，改善了两只机械臂的各向同性。基于扩展任务的方法可利用现有的机械臂控制器就可对双工业机械臂系统进行基于用户定义的优化指标进行位姿优化，从而省去了重新设计和修改逆运动学算法的步骤。该部分的内容是将前文新提出的DAIM作为优化指标项，进一步研究了双臂系统的位形自动化优化效果和方法。 |
| 英文摘要 | The content of this thesis can be divided into two parts. In first part the author was devoted to construct a new type of measurement (index) ---Dual-Arm Isotropic Measure (DAIM) . The form of DAIM is the product of two classical robot's dexterity index, and we design the inverse kinematics algorithm of the plane dual-arm manipulators based on the gradient Projection method. Then the simulation experiment of the two other velocity dexterity indexes is carried out in Matlab Simulink, and the Joint space trajectory, condition number, manipulability changes of two manipulators are shown in the third chapter. The results show that the new index has a unique advantage. The second part of the thesis is focused on dual industrial system pose optimization based on the augment task. Firstly, the modeling of kinematics the coordination task and the dual manipulator were carried out. Then, the optimization problem is described based on the Augmented matrix method and the dual-arm isotropic index (DAIM) proposed above. The Monte Carlo method is used to sample the joint space points near the optimized configuration, then the linear regression process is carried out to describe the relationship between the extended task and the position of the leader manipulator. Finally, the simulation example and the robot programming are built in Robot Studio software developed by ABB. The simulation results show that the value condition index is reduced and manipulability value of the two manipulators are increasing. The configuration of dual manipulator are away from singularity. So the optimization method is proved to be able to improve the isotropic of dual manipulators. The dual industrial manipulator system was optimized for pose based on double arm isotropic index (DAIM). The significance of this method is that users could optimize the pose of the dual manipulators system based on user-defined index without modifying the inverse kinematics algorithms in the industrial robot controller, which improved the performance of the manipulators simply and automatically. We have been studied further how to optimize the pose of dual manipulators system simply and automatically. |
| 语种 | 中文 |
| 产权排序 | 1 |
| 内容类型 | 学位论文 |
| 源URL | [http://ir.sia.cn/handle/173321/20510]  |
| 专题 | 沈阳自动化研究所_装备制造技术研究室 |
| 推荐引用方式 GB/T 7714 | 郭鹏. 双臂机器人运动灵巧性指标及其应用研究[D]. 沈阳. 中国科学院沈阳自动化研究所. 2017. |
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