【摘要】：隨著仿生學的發(fā)展,人們對仿生懸臂擺蕩運動等非線性欠驅(qū)動非完整約束系統(tǒng)控制的研究越來越多。猿猴等靈長類動物之所以能夠在樹枝間靈活地擺蕩,得益于其通過長期進化而來的本能來控制自身的擺蕩姿態(tài),達到動能與勢能之間靈活地轉(zhuǎn)換。借鑒于猿猴的仿生擺蕩控制原理,為了探索非線性欠驅(qū)動系統(tǒng)的控制的新領(lǐng)域,以及實現(xiàn)欠驅(qū)動機器人代替人類在高空桁架,外太空環(huán)境等非連續(xù)介質(zhì)下連續(xù)移動的目的,本文研究了仿猿雙臂手機器人在桁架桿下實現(xiàn)完全自主的大阻尼欠驅(qū)動連續(xù)移動抓桿的控制策略與方法�；趯`長類生物擺蕩運動機理的認識,本文首先介紹了本實驗室所提出的在仿猿雙臂手機器人大阻尼欠驅(qū)動抓桿策略。本文將連續(xù)移動抓桿從靜止勵振到下放停機細化為自啟動勵振階段,調(diào)整構(gòu)型大阻尼抓桿階段,自運動調(diào)整松桿階段,周期性擺蕩連續(xù)移動階段和下放停止階段。對于欠驅(qū)動大阻尼階段的機器人進行了運動學正逆解分析。對于欠驅(qū)動四桿機器人建立了動力學模型。結(jié)合機器人的運動學和動力學,本文對各個階段的機器人進行控制模型的建立與控制策略的分析。針對目前仿猿擺蕩機器人抓桿缺乏可靠性評估的現(xiàn)象,基于李雅普諾夫定理分析了機器人大阻尼的退轉(zhuǎn)速度對于抓桿穩(wěn)定性的影響,提出了速度相關(guān)和力矩相關(guān)的退轉(zhuǎn)穩(wěn)定性條件。針對三桿抓桿的可抓握范圍不足的缺陷,本文提出了四桿協(xié)調(diào)反饋抓桿控制策略。為了解決實際機器人退轉(zhuǎn)反饋延遲問題,提出了退轉(zhuǎn)預估補償策略。利用最優(yōu)控制理論,對擺蕩階段的機器人進行了關(guān)節(jié)速度最小同時擺蕩后重心最高的主驅(qū)動關(guān)節(jié)前饋軌跡的求解。根據(jù)幾何關(guān)系,分析了自運動調(diào)整階段,松桿階段的需要滿足的運動學約束條件。為了保證機器人各個階段控制切換的穩(wěn)定性,設(shè)計了各階段間控制器切換條件,整合成一個總的能實現(xiàn)仿猿雙臂手機器人完全自動化的連續(xù)移動控制器。建立ADAMS-Simulink聯(lián)合仿真控制系統(tǒng)。對虛擬實驗環(huán)境下的仿猿雙臂手機器人分別進行了桿水平間距0.4m和0.6m的抓桿連續(xù)移動仿真。仿真結(jié)果表明所提出的方法能實現(xiàn)各個運動階段間柔順切換;四桿協(xié)調(diào)抓桿顯著提高了大阻尼欠驅(qū)動反饋抓桿的可抓握范圍,實現(xiàn)了機器人一次擺蕩抓握目標桿的能力。仿真驗證了所設(shè)計的控制器的有效性,以及所提出穩(wěn)定性理論的正確性。
[Abstract]:With the development of bionics, more and more researches have been made on the control of nonlinear underactuated nonholonomic constrained systems such as the swing motion of bionic cantilever. Primates such as apes are able to swing flexibly between branches thanks to their long-evolved instincts to control their swinging posture and achieve a flexible conversion between kinetic energy and potential energy. In order to explore the new field of control of nonlinear underactuated system and to realize the continuous movement of human beings in discontinuous medium such as high altitude truss and outer space environment, this paper draws lessons from the theory of bionic swing control of apes, in order to explore the new field of control of nonlinear underactuated system. In this paper, the control strategy and method of the continuous moving grab rod with large damping underactuation under the truss bar for the ape-like dual-arm robot are studied. Based on the understanding of the mechanism of the swing motion of primate organisms, this paper first introduces the large damping underactuated grab rod strategy proposed in our laboratory. In this paper, the continuous moving grab bar from static excitation to down-down stop is divided into self-starting excitation stage, adjusting configuration with large damping grip stage, self-motion adjusting loosing stage, periodic swing continuous moving stage and down-down stopping stage. The kinematics inverse solution of the underactuated robot with large damping stage is analyzed. The dynamic model of underactuated four-bar robot is established. Combined with the kinematics and dynamics of the robot, the control model and control strategy of each stage of the robot are established and analyzed in this paper. In view of the lack of reliability evaluation of the grab rod of the ape-like swinging robot at present, based on Lyapunov theorem, the influence of the speed of the large damping of the robot on the stability of the grab rod is analyzed. The retrograde stability condition of velocity and torque correlation is proposed. Aiming at the deficiency of grasping range of three-bar grip, a four-bar coordinated feedback control strategy is proposed in this paper. In order to solve the problem of backward feedback delay of robot, a retrograde predictive compensation strategy is proposed. The optimal control theory is used to solve the feedforward trajectory of the main driving joint with the lowest joint velocity and the highest center of gravity after the joint swing. According to the geometric relations, the kinematics constraints of the self-motion adjustment stage and the loose pole stage are analyzed. In order to ensure the stability of the control switching in each stage of the robot, the switching conditions of the controller between the stages are designed and integrated into a continuous mobile controller, which can achieve the complete automation of the robot. The ADAMS-Simulink joint simulation control system is established. In the virtual experimental environment, the simulation of continuous movement of grasp rod with 0.4 m and 0.6 m horizontal distance is carried out respectively. The simulation results show that the proposed method can achieve compliance switching between different motion stages, and the four bar coordinated grip can significantly improve the gripping range of the large damping underactuated feedback grip, and realize the ability of the robot to grasp the target rod in one swing. Simulation results show the effectiveness of the proposed controller and the correctness of the proposed stability theory.
【學位授予單位】：哈爾濱工業(yè)大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP242

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