9DOF全方位移动机械臂运动学及其控制系统的研究.pdfVIP

9DOF 全方位移动机械臂运动学及其控制系统研究 于振中，闫继宏，赵 杰，陈志峰 （哈尔滨工业大学机器人技术及系统国家重点实验室，黑龙江 哈尔滨 150080 ） 摘 要：为了快速并精确的求解一类冗余移动机械臂的优化逆解，提出了一种将关节局部优化法、解析法 和遗传信赖域优化搜索算法相结合的冗余机器人运动学求逆方法。首先利用关节等效法和局部优化法将优 化算法需要求解的运动关节变量减少，然后使用解析法把机械臂的剩余关节变量用移动平台的运动参变量 表示，引入关节最佳柔顺性准则构造只包含移动车运动参变量的目标函数，最后用优化算法求解此目标函 数的最优化问题实现逆运动学求解。设计了机器人的控制系统，包括分层伺服控制结构设计、控制系统硬 件结构设计、差动轮转向与滚动解耦控制和多圈绝对式编码器信号增量化处理。实验表明求逆方法能够快 速精确的求出优化逆解，控制系统运行稳定。 关键词：移动机械臂; 运动学; 遗传信赖域; 冗余机器人; 机器人控制 中图分类号：TP242.3 文献标识码：A Kinematics and Control System of 9DOF Omni-directional Mobile Manipulator Yu Zhenzhong, Yan Jihong, Zhao Jie, Chen Zhifeng (State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China) Abstract: To get optimization inverse kinematics solutions for a class of redundant mobile manipulator quickly and accurately, an inverse kinematics method based on joint partial optimization method, analytical method and genetic trust region algorithm was proposed. First, it lessened joint movement parameters by applying equivalent joint method and partial optimization method. Second, analytical method was used to express manipulator’s remaining joint movement parameters by mobile vehicle’s movement parameters. Third, best flexibility principle was introduced to build the objective function which only contains parameters of mobile vehicle. Last, the optimization problem of the objective function was solved by genetic trust region algorithm to get the inverse kinematics solutions of mobile manipulator. Control system of the robot was designed, including the hierarchical structure of servo-control design, control system hardware structure design, differential wheel rotating and tumbling decoupling control, and multi-turn abso