【摘要】：我國果實產(chǎn)量占世界總產(chǎn)量的比重較大,但與西方發(fā)達國家相比,我國采摘作業(yè)的自動化水平較低。與單臂機器人相比,雙臂協(xié)作機器人在復雜的工作環(huán)境和操作任務(wù)中具有優(yōu)勢。本文以兩臺五自由度機械臂為例,研究雙臂機器人協(xié)作進行農(nóng)業(yè)采摘時的一些關(guān)鍵技術(shù),如避碰路徑規(guī)劃、協(xié)調(diào)運動分析、時間最優(yōu)軌跡規(guī)劃、雙臂協(xié)調(diào)控制等等,為后期進行實際采摘提供技術(shù)積累。本文首先建立了機械臂連桿坐標系,確定了各連桿的D-H參數(shù),并運用解析法對機械臂的正逆運動學進行了分析。然后分別對關(guān)節(jié)空間軌跡規(guī)劃、笛卡爾空間位置插補和姿態(tài)插補進行了研究;在避碰路徑規(guī)劃方面,本文對單機械臂避碰路徑規(guī)劃進行了研究,提出了相應(yīng)的避碰檢測方法和避碰路徑搜尋方法,并通過仿真進行了避障模擬,結(jié)果表明機械臂能夠沿著規(guī)劃路徑從起始點到達目標點而不與障礙物發(fā)生碰撞;在協(xié)調(diào)運動分析方面,本文首先運用蒙特卡洛法對雙臂機器人工作空間進行了數(shù)值求解并獲得了其工作空間云圖。然后對雙臂機器人的協(xié)作運動約束關(guān)系進行了分析,并以雙臂孔軸配合為例進行了研究。對雙臂機器人面向農(nóng)業(yè)采摘作業(yè)時的跟隨運動這類協(xié)作任務(wù)進行了分析與仿真,并對協(xié)作采摘任務(wù)進行了分解以及實現(xiàn)了相應(yīng)的模擬仿真;在時間最優(yōu)軌跡規(guī)劃方面,本文首先采用PSO算法對單臂機器人進行了速度約束下的時間最優(yōu)軌跡規(guī)劃,仿真結(jié)果表明機械臂各個關(guān)節(jié)能以趨近于極限值的較大速度運動,驗證了基于PSO算法的3-5-3次多項式插值的有效性;隨后采用多段樣條多項式插值對雙臂機器人的一般時間最優(yōu)軌跡規(guī)劃問題進行了研究,并以4-3-3-4次多項式插值為例,對已完成無碰撞路徑規(guī)劃的雙臂機器人進行了時間最優(yōu)軌跡規(guī)劃,仿真結(jié)果表明雙臂機器人各個關(guān)節(jié)運動平穩(wěn)、滿足速度約束限制;在雙臂協(xié)調(diào)控制方面,本文首先搭建了基于Arduino的雙臂機器人控制系統(tǒng)硬件平臺,然后提出了實現(xiàn)雙臂機器人實時控制的軟件方案。隨后通過上位機編程,實現(xiàn)了幾個應(yīng)用Matlab/GUI界面來操控機械臂的實例。最后以雙臂孔軸配合和雙臂跟隨這兩個任務(wù)為例,對雙臂機器人進行了協(xié)調(diào)控制實驗,得到的結(jié)果與前面章節(jié)中的仿真結(jié)果比較接近。
[Abstract]:The fruit yield in China accounts for a large proportion of the total output in the world, but compared with the developed countries in the West, the automatic level of picking in our country is lower. Compared with single arm robot, dual-arm cooperative robot has advantages in complex working environment and operation task. In this paper, two five-degree-of-freedom manipulators are taken as an example to study some key technologies of dual-arm robot cooperation in agricultural harvesting, such as collision avoidance path planning, coordinated motion analysis, time-optimal trajectory planning, dual-arm coordinated control and so on. For the later stage of actual picking to provide technology accumulation. In this paper, the coordinate system of the connecting rod of the manipulator is established, the D-H parameters of each link are determined, and the forward and inverse kinematics of the manipulator is analyzed by using the analytical method. Then the joint space trajectory planning, Cartesian space position interpolation and attitude interpolation are studied, and in the aspect of collision avoidance path planning, the single manipulator collision avoidance path planning is studied in this paper. The corresponding collision avoidance detection method and collision avoidance path search method are put forward, and the obstacle avoidance simulation is carried out through simulation. The results show that the manipulator can reach the target point from the starting point along the planned path without colliding with the obstacle. In the aspect of coordinated motion analysis, firstly, Monte Carlo method is used to solve the workspace of dual-arm robot numerically and the workspace cloud map is obtained. Then, the cooperative motion constraint relationship of dual-arm robot is analyzed, and an example of double-arm hole shaft matching is studied. This paper analyzes and simulates the cooperative tasks such as the following motion when the dual-arm robot is oriented to the agricultural picking, and decomposes the cooperative picking task and realizes the corresponding simulation, and in the aspect of the time optimal trajectory planning, the paper analyzes and simulates the cooperative task. In this paper, the time optimal trajectory planning of single-arm robot under velocity constraint is carried out by using PSO algorithm. The simulation results show that each joint of the manipulator can move at a large speed approaching the limit value. The validity of 3-5-3 degree polynomial interpolation based on PSO algorithm is verified, and then the general time optimal trajectory planning problem of dual-arm robot is studied by using multi-segment spline polynomial interpolation, and the 4-3-3-3-4 degree polynomial interpolation is taken as an example. The time optimal trajectory planning for the two-arm robot which has completed the path planning without collision is carried out. The simulation results show that the motion of each joint of the two-arm robot is stable and meets the speed constraint. In this paper, the hardware platform of dual-arm robot control system based on Arduino is first built, and then the software scheme to realize real-time control of dual-arm robot is proposed. Then, several examples of manipulating manipulator with Matlab/GUI interface are realized by PC programming. Finally, the coordination control experiments are carried out on the dual-arm robot by taking the two tasks of double-arm hole axis matching and double-arm following as examples. The results obtained are close to the simulation results in the previous chapters.
【學位授予單位】：湖北工業(yè)大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP242

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