水下机器人及机械手轨迹规划与研究.pdfVIP

摘 要 随着科学技术的发展，水下机器人已经广泛应用到海洋勘测。水下机器人及机械 手的轨迹规划对机器人的作业有重要意义。本文以水下机器人及作业机械手为研究对 象，针对轨迹规划进行研究。本文主要包括了以下几个方面的内容： 首先，介绍了水下作业机械手的特点和组成结构、分析了其工作原理。并用D-H 方法建立了机械手的运动学模型，用反变换法对其进行了运动学反解。在此基础上， 讨论了机械手工作空间的形成、特点和求解方法，并对机械手的工作空间进行仿真。 其次，详细的介绍和分析了Khatib 的人工势场模型。先对本文的机械手作业平台 进行受力分析，建立人工势场的模型。再在该模型的基础上，设计了机械手作业平台 的路径规划方案，并仿真证明运用人工势场模型能够准确的进行路径规划。 再次，介绍了几种经典的轨迹规划算法及进行三次样条的插值，如关节空间空间 规划，笛卡尔空间空间规划；对上面几种方法分别编程实现，进行了轨迹实时生成和 Matlab 的仿真,验证了所规划轨迹的正确性。 随后，介绍了二次规划模型，用二次规划模型代替了经典的关节空间轨迹规划法。 在速度和加速度的约束条件下，使用二次规划算法获得了运动时间最优的关节轨迹， 将所用算法与现有算法对比表明了所用算法的优越性。 关键字：机械手，人工势场，轨迹规划，优化 I Abstract With the development of science and technology, underwater vehicles have been wildly used in the sea bed exploitation. The trajectory planning of underwater vehicles and manipulator is important for the operation of underwater vehicle. This thesis is concerning with trajectory planning study based on underwater vehicles and manipulator. The following parts are included in this thesis: Firstly, the characteristic and the structure of the underwater manipulator and its work principle are discussed. The kinematics model is established by using the D-H method, and solved by using the counter transformation method. On the base of the kinematics model, the thesis introduces the characteristic of work space and an approach to solving the work space. Then, the work space of the manipulator is simulated. Secondly, the thesis analyses the Khatib artificial potential field model. The first step is to establish the artificial potential field model based on force analysis of manipulator operation platform. Then the path planning is designed based on this model. The simulation experiments are done with the MATLAB tools to verify the valid