本文選題：服務(wù)機(jī)器人 + 爬樓梯　； 參考：《南京理工大學(xué)》2016年博士論文

【摘要】：隨著老齡化社會(huì)的到來,我國(guó)養(yǎng)老事業(yè)面臨著巨大的壓力。老年人口數(shù)量大,人口老齡化速度快、來勢(shì)猛,由于經(jīng)濟(jì)基礎(chǔ)薄弱出現(xiàn)了未富先老、獨(dú)生子女難以承擔(dān)多個(gè)老人的養(yǎng)老等問題。同時(shí),我國(guó)還有大量因工傷、交通事故等導(dǎo)致的下肢殘疾者。目前國(guó)內(nèi)各大城市和鄉(xiāng)鎮(zhèn)居民樓以多層無電梯樓房為主,給他們的出行帶來了諸多不便。輪椅作為行動(dòng)不便的老年人和下肢殘疾者的主要代步工具越來越普及,但常見的輪椅極少具備翻越障礙和爬樓功能。為了更好地關(guān)愛老年人和下肢殘疾者,應(yīng)用現(xiàn)代高新技術(shù),研究一種價(jià)格適中、具有爬樓功能的多功能服務(wù)機(jī)器人,擴(kuò)大老年人和下肢殘疾者的活動(dòng)范圍,改善他們的生活質(zhì)量,減輕護(hù)理人員壓力,即符合國(guó)家中長(zhǎng)期科技服務(wù)機(jī)器人發(fā)展的戰(zhàn)略,又具有重大的經(jīng)濟(jì)和社會(huì)效益。為滿足新型服務(wù)機(jī)器人研制的需求,本文研究了多功能助老助殘服務(wù)機(jī)器人的若干關(guān)鍵技術(shù),設(shè)計(jì)了一種平地和樓梯兩用的多功能助老助殘服務(wù)機(jī)器人方案,建立了服務(wù)機(jī)器人的數(shù)學(xué)模型,研究了服務(wù)機(jī)器人多關(guān)節(jié)軌跡跟蹤和同步控制器的設(shè)計(jì)方法,針對(duì)載人機(jī)器人的特點(diǎn)研究了其運(yùn)動(dòng)穩(wěn)定性分析和控制方法,通過數(shù)字化虛擬樣機(jī)和聯(lián)合仿真技術(shù)驗(yàn)證了研究方案和控制策略的有效性,主要內(nèi)容如下:(1)針對(duì)助老助殘服務(wù)機(jī)器人的需求,提出了一種平地、樓梯兩用助行機(jī)器人的設(shè)計(jì)方案,設(shè)計(jì)了兩組爬樓梯機(jī)構(gòu)實(shí)現(xiàn)機(jī)器人爬樓梯功能,連桿機(jī)構(gòu)的作用類似于輪足式機(jī)器人中的足式機(jī)構(gòu),用于彌補(bǔ)上下樓時(shí)前后輪的高度差,使車體保持水平。在前輪通過連桿機(jī)構(gòu)調(diào)節(jié)運(yùn)動(dòng)過程中的車體姿態(tài),保證車體水平,并減小了機(jī)器人車體的波動(dòng)程度。建立了多功能助行服務(wù)機(jī)器人的運(yùn)動(dòng)學(xué)和動(dòng)力學(xué)模型,通過運(yùn)動(dòng)學(xué)分析規(guī)劃了爬樓梯過程中各關(guān)節(jié)的理想運(yùn)動(dòng)軌跡,為運(yùn)動(dòng)控制奠定了基礎(chǔ)。(2)以運(yùn)動(dòng)學(xué)規(guī)劃的各關(guān)節(jié)理想運(yùn)動(dòng)軌跡為跟蹤目標(biāo),針對(duì)系統(tǒng)存在擾動(dòng)、慣量不確定以及傳統(tǒng)滑�？刂埔锥墩竦那闆r,提出了一種基于高階滑模助行機(jī)器人軌跡跟蹤控制器設(shè)計(jì)方法,以減小攝動(dòng)參數(shù)以及擾動(dòng)轉(zhuǎn)矩的影響,保證單個(gè)關(guān)節(jié)軌跡跟蹤性能。運(yùn)用Lyapunov理論分析了閉環(huán)控制系統(tǒng)的穩(wěn)定性,證明了在所設(shè)計(jì)的控制器作用下,軌跡跟蹤誤差收斂。(3)針對(duì)多關(guān)節(jié)之間的協(xié)調(diào)控制,將助行機(jī)器人多個(gè)關(guān)節(jié)的協(xié)調(diào)控制與跟蹤控制結(jié)合,在單關(guān)節(jié)魯棒控制的基礎(chǔ)上引入多關(guān)節(jié)交叉耦合控制技術(shù),提出了助行機(jī)器人多關(guān)節(jié)同步高階滑模控制器的設(shè)計(jì)方法,以減小相鄰關(guān)節(jié)間軌跡跟蹤誤差累積對(duì)系統(tǒng)性能造成的影響,保證了多關(guān)節(jié)協(xié)調(diào)運(yùn)行,運(yùn)用Lyapunov理論分析了系統(tǒng)的穩(wěn)定性,實(shí)現(xiàn)了多個(gè)關(guān)節(jié)的魯棒控制。(4)考慮載人機(jī)器人具有人機(jī)交互的特殊性,在受到地形干擾和人體坐姿干擾的情況下,提出了一種適用于載人機(jī)器人的動(dòng)態(tài)穩(wěn)定性分析方法,并在動(dòng)態(tài)穩(wěn)定性分析的基礎(chǔ)上,提出了一種助行機(jī)器人穩(wěn)定性控制策略,根據(jù)穩(wěn)定性指數(shù)實(shí)時(shí)調(diào)整連桿機(jī)構(gòu)的期望運(yùn)動(dòng)軌跡,使機(jī)器人在受到干擾時(shí)能及時(shí)調(diào)整車體姿態(tài),保持車身水平。運(yùn)用Lyapunov理論分析閉環(huán)控制系統(tǒng)的穩(wěn)定性,證明在所設(shè)計(jì)的控制器下,穩(wěn)定角誤差和速度跟蹤誤差均收斂。(5)建立助行機(jī)器人聯(lián)合仿真平臺(tái),在ADAMS中建立虛擬樣機(jī),設(shè)計(jì)MATLAB和ADAMS的聯(lián)合仿真平臺(tái)。以虛擬樣機(jī)為被控對(duì)象,將單關(guān)節(jié)控制算法、多關(guān)節(jié)協(xié)調(diào)控制算法以及運(yùn)動(dòng)穩(wěn)定控制算法分別用于被控對(duì)象,驗(yàn)證了所提算法的有效性。
[Abstract]:With the coming of the aging society, the old age population in China is facing great pressure. The number of elderly population is large, the population aging is fast and the situation is fierce. Because of the weak economic foundation, the elderly are not rich and old, and the only child is difficult to bear the pension of many old people. At the same time, there are still a lot of lower limbs caused by industrial injuries and traffic accidents in China. People with disabilities. At present, the main cities and townships in the large cities and townships are mainly multi-storey and non elevator buildings, which have brought a lot of inconvenience to them. The wheelchair is becoming more and more popular for the elderly and the disabled of the lower extremities. But the common wheelchairs rarely have the function of turning over obstacles and climbing buildings. People and lower extremity disabled people, applying modern high technology, study a multi-functional service robot with moderate price and climbing function, expand the range of the activities of the disabled and the elderly, improve their quality of life, reduce the pressure of the nursing staff, that is, it is in line with the strategy of the development of the long term service robot in the state. Economic and social benefits. In order to meet the needs of the development of a new service robot, this paper studies several key technologies of the multi-function aged and disabled service robot, and designs a multi-functional robot scheme for the disabled service robot with flat ground and staircase. The mathematical model of the service robot is established, and the multi joint rail of the service robot is studied. The design method of trace tracking and synchronous controller is designed to study the motion stability analysis and control method for the characteristics of manned robot. The effectiveness of the research scheme and control strategy is verified by digital virtual prototype and joint simulation technology. The main contents are as follows: (1) a new method is proposed for the needs of the aged assisting service robot. Two sets of stairs climbing mechanism is designed to realize the function of the robot climbing staircase. The function of the connecting rod mechanism is similar to the foot type mechanism in the wheel foot type robot. It is used to make up the height difference between the front and back wheels of the upper and lower floors and keep the body level. The front wheel adjusts the movement process through the connecting rod mechanism in the front wheel. The posture of the car body ensures the level of the body and reduces the fluctuation of the body of the robot. A kinematic and dynamic model of the multi-function service robot is set up. The ideal motion trajectory of the joints in the stairs is planned through kinematics analysis, which lays the foundation for the control of the motion. (2) the ideal transportation of the joints in the kinematic planning is made. The trajectory tracking is a tracking target. Aiming at the disturbance of the system, the uncertainty of inertia and the easy vibration of the traditional sliding mode control, a design method based on the high order sliding mode robot trajectory tracking controller is proposed to reduce the influence of the perturbation parameters and disturbance torque, and to ensure the tracking performance of the single joint. The Lyapunov theory is used. The stability of the closed loop control system is analyzed. It is proved that the trajectory tracking error is convergent under the function of the designed controller. (3) combining the coordinated control of multiple joints, the multi joint cross coupling control technology is introduced on the basis of the robust control of the single joint, and the multi joint cross coupling control technology is introduced. The design method of multi joint synchronous high order sliding mode controller is designed to reduce the influence of track tracking error accumulated between adjacent joints to the performance of the system, and ensure the coordinated operation of multiple joints. The stability of the system is analyzed with Lyapunov theory and robust control of multiple joints is realized. (4) considering the human-computer of a manned robot In the case of the interference of the terrain and the posture of the human body, a dynamic stability analysis method suitable for the manned robot is proposed. On the basis of the dynamic stability analysis, a stability control strategy for the walking robot is proposed, which adjusts the expected track of the linkage in real time according to the stability index. The robot can adjust the body posture and maintain the body level in time when the robot is disturbed. Lyapunov theory is used to analyze the stability of the closed loop control system. It is proved that the stability angle error and the speed tracking error are convergent under the designed controller. (5) the joint simulation platform of the auxiliary robot is established, the virtual prototype is set up in the ADAMS and the MA is designed. The joint simulation platform of TLAB and ADAMS, taking the virtual prototype as the controlled object, uses the single joint control algorithm, the multi joint coordination control algorithm and the motion stability control algorithm respectively to the controlled object, and verifies the effectiveness of the proposed algorithm.
【學(xué)位授予單位】：南京理工大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2016
【分類號(hào)】：TP242

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