面向柔性服務機器人的若干前沿技術研究
發(fā)布時間：2019-05-27 13:28
【摘要】：隨著機器人技術的快速發(fā)展,機器人已經開始走出工業(yè)生產線,走向千家萬戶,有望很快服務大眾。作為一個典型的非線性復雜系統(tǒng)和多學科交叉的綜合集成系統(tǒng),服務機器人的研制涉及內容廣,面臨挑戰(zhàn)大。如何有效的提高服務機器人的性能,尤其是提高其柔性化水平以滿足與人交互的各項服務任務的需求,成為一個富有挑戰(zhàn)性的重大課題。本文以作者在攻讀博士學位期間參與的可佳機器人項目為基礎,介紹了服務機器人的基本設計和柔性化思想,以及軟體執(zhí)行器、柔性感知規(guī)劃等若干前沿技術。第一部分論述服務機器人面臨的設計上的挑戰(zhàn)-提升交互體驗、降低系統(tǒng)復雜度和提高柔性化水平等。本文以可佳服務機器人為例,介紹作者為解決這些挑戰(zhàn),在機器人設計方面采用的一些方法,如功能替代、融合設計和自由度分布優(yōu)化等。機械系統(tǒng)是機器人產生行為的基礎,對機器人的執(zhí)行任務范疇和執(zhí)行效果具有重大的影響。合理的機械系統(tǒng)應該綜合考慮任務范圍和操作類型以布置自由度并設計不同種類的運動機構,同時應該考慮降低控制難度,盡量減少因硬件結構產生的運動學復雜計算求解。同時,機器人的運動關節(jié)較多,進行自由度分布的優(yōu)化可以大大增強系統(tǒng)的柔性和魯棒性。第二部分論述了服務機器人的執(zhí)行系統(tǒng)面臨的挑戰(zhàn)-如何增強機器人的柔性化,提高其安全性。本文介紹了一種有望徹底解決機器人柔性化不足的前沿技術-軟體機器人技術。相對于傳統(tǒng)硬質機器人而言,軟體機器人具有天然的柔性和安全性,更加適合服務機器人與人交互的特點。本文從仿生學觀點出發(fā),提出了一種蜂巢式氣動仿生機器人,并對其運動性能進行了初步的分析。實驗證明此構型的軟體機器人在伸縮率和彎曲率方面的性能十分優(yōu)異,并且還具備自變剛度的特性,是一項非常有前景的機器人基礎技術。第三部分論述了服務機器人在感知-規(guī)劃方面的挑戰(zhàn)。智能服務機器人在工作空間內需要利用自身傳感器進行環(huán)境信息的感知并進行合理的行為規(guī)劃,但由于機載設備性能限制,機器人得到的環(huán)境信息極為有限,限制了其感知規(guī)劃能力的提升。近年來,隨著智能物聯(lián)網、智能家居、普適計算的興起,利用外部傳感器信息和知識對機器人的感知能力進行增強成為一個研究前沿。本文提出利用柔性傳感器進行外部感知,并提出一種規(guī)劃技術來對智能機器人的感知規(guī)劃能力進行進一步的提升。本文的主要貢獻和創(chuàng)新之處如下：首先,本文基于可佳服務機器人,論述了服務機器人功能設計要素,介紹了其曳引對重升降結構、模塊化手臂等獨特設計。同時提出一種新的柔性責任矩陣技術,基于運動關節(jié)與任務空間的逆微分關系,將關節(jié)空間補償映射為末端執(zhí)行空間誤差補償,通過關節(jié)空間補償以較小的剛度損失增加了執(zhí)行器在目標維度上的補償度。其次,本文基于仿生學觀點,利用柔性蜂巢結構模擬植物細胞壁、微型氣動單元模擬細胞膜離子泵,提出了一種新的仿生軟體執(zhí)行器-蜂巢氣動網絡。本文研究了該執(zhí)行器的靜力學模型,建立了其超冗余度并聯(lián)機構運動學模型,以及基于彈簧-質點系的動力學仿真模型。同時,利用彈性金屬和微型氣袋制造了原型機并進行測試,實驗表明該種軟體執(zhí)行器伸縮率可達800%,具備同時進行三維彎曲和伸縮能力,對目標物體可進行面貼合,性能較先前軟體執(zhí)行器有了大幅提高。最后,論文研究了利用柔性傳感器進一步提升其環(huán)境感知規(guī)劃能力,提出一種采用智能織物作為外部感知器的柔性感知-規(guī)劃技術,并著重研究了環(huán)境傳感器下的算法優(yōu)化。通過分析隨機搜索樹在凸空間內采樣區(qū)域和碰撞事件的關系,提出通過碰撞檢測避免采樣區(qū)域超前導致搜索效率下降問題,并根據碰撞信息進行指數級的采樣區(qū)域調整,有效的加速了搜索樹向目標區(qū)域收斂的速度。實驗證明,在計算機隨機生成的障礙物地圖上,該算法較原RRT算法有一個數量級的速度提升,達到了感知規(guī)劃的實時要求。
[Abstract]:With the rapid development of the technology of the robot, the robot has begun to walk out of the industrial production line, to a million households, and is expected to serve the public soon. As a typical non-linear complex system and a multi-subject integrated integrated system, the development of the service robot involves a wide range of content and a great challenge. How to effectively improve the performance of the service robot, especially to improve the flexibility level to meet the demands of various service tasks with people, becomes a challenging and important subject. The paper introduces the basic design and flexibility of the service robot, as well as a number of front-edge technologies such as soft-actuator and flexible sensing planning, based on the good-robot project involved in the study of the doctor's degree. The first part discusses the design challenges facing the service robot-enhancing the interactive experience, reducing the complexity of the system and improving the flexibility level. This paper takes a good service robot as an example, and introduces some methods to solve these challenges, such as function substitution, fusion design and freedom distribution optimization. The mechanical system is the basis of the robot's behavior, and has a great influence on the execution task category and the performance of the robot. The reasonable mechanical system should take into account the task range and the operation type to arrange the degree of freedom and design different kinds of motion mechanism. At the same time, the control difficulty should be reduced, and the complex calculation of the kinematics due to the hardware structure should be minimized. At the same time, the motion joint of the robot is more, and the optimization of the degree of freedom distribution can greatly enhance the flexibility and the robustness of the system. The second part discusses the challenge of the implementation system of the service robot-how to enhance the flexibility of the robot and improve the security. This paper introduces a technology-soft-robot technology which is expected to completely solve the defects of the robot's flexibility. Compared with the traditional rigid robot, the soft robot has the characteristics of natural flexibility and safety, and is more suitable for the interaction of the service robot and the human. In this paper, a kind of honeycomb-type pneumatic bionic robot is put forward from the view of bionics, and the motion performance of the robot is analyzed. The experimental results show that the soft-robot with this configuration has excellent performance in the aspects of extension rate and bending rate, and also has the characteristics of self-variable stiffness, which is a very promising base technology of the robot. The third part discusses the challenge of the service robot in the sense-planning. In the working space, the intelligent service robot needs to use its own sensor to sense the environment information and conduct reasonable behavior planning, but due to the limitation of the performance of the airborne equipment, the environment information obtained by the robot is very limited, and the improvement of its perception planning ability is limited. In recent years, with the rise of the intelligent Internet of things, the intelligent home and the pervasive computing, the sensing ability of the robot is enhanced by using the external sensor information and knowledge. In this paper, an external perception is made by using a flexible sensor, and a planning technique is proposed to further improve the perception planning capability of the intelligent robot. The main contribution and innovation of this paper are as follows: Firstly, based on the good service robot, this paper discusses the design elements of the service robot, and introduces the unique design of the lifting structure, the modular arm and so on. At the same time, a new flexible liability matrix technique is proposed, based on the inverse differential relation between the motion joint and the task space, the joint space compensation is mapped to the end execution space error compensation, and the compensation degree of the actuator in the target dimension is increased by the joint space compensation with a small stiffness loss. Secondly, based on the bionics, this paper presents a new bionic soft-actuator-cellular pneumatic network by using the flexible honeycomb structure to simulate the cell wall and the micro-pneumatic unit to simulate the cell membrane ion pump. In this paper, the static model of the actuator is studied, the kinematic model of the super-redundant parallel mechanism is established, and the dynamic simulation model based on the spring-mass point system is established. At the same time, the prototype is manufactured by the elastic metal and the micro air bag, and the test is carried out. The experiment shows that the expansion rate of the soft actuator can reach 800%, the three-dimensional bending and the expansion capability can be simultaneously carried out, the surface bonding of the target object can be carried out, and the performance is greatly improved compared with the prior software actuator. In the end, the paper studies the ability of the flexible sensor to further improve its environment-aware planning, and puts forward a flexible sensing-planning technique using the intelligent fabric as an external sensor, and focuses on the optimization of the algorithm under the environment sensor. By analyzing the relation between the sampling region and the collision event in the convex space of the random search tree, the problem of reducing the search efficiency by collision detection is proposed, and the sampling region of the exponential stage is adjusted according to the collision information, The speed of the search tree to converge towards the target region is effectively accelerated. The experimental results show that the algorithm has an order of magnitude higher than that of the original RRT algorithm, and the real-time requirement of the sensing planning is achieved.
【學位授予單位】：中國科學技術大學
【學位級別】：博士
【學位授予年份】：2016
【分類號】：TP242
[Abstract]:With the rapid development of the technology of the robot, the robot has begun to walk out of the industrial production line, to a million households, and is expected to serve the public soon. As a typical non-linear complex system and a multi-subject integrated integrated system, the development of the service robot involves a wide range of content and a great challenge. How to effectively improve the performance of the service robot, especially to improve the flexibility level to meet the demands of various service tasks with people, becomes a challenging and important subject. The paper introduces the basic design and flexibility of the service robot, as well as a number of front-edge technologies such as soft-actuator and flexible sensing planning, based on the good-robot project involved in the study of the doctor's degree. The first part discusses the design challenges facing the service robot-enhancing the interactive experience, reducing the complexity of the system and improving the flexibility level. This paper takes a good service robot as an example, and introduces some methods to solve these challenges, such as function substitution, fusion design and freedom distribution optimization. The mechanical system is the basis of the robot's behavior, and has a great influence on the execution task category and the performance of the robot. The reasonable mechanical system should take into account the task range and the operation type to arrange the degree of freedom and design different kinds of motion mechanism. At the same time, the control difficulty should be reduced, and the complex calculation of the kinematics due to the hardware structure should be minimized. At the same time, the motion joint of the robot is more, and the optimization of the degree of freedom distribution can greatly enhance the flexibility and the robustness of the system. The second part discusses the challenge of the implementation system of the service robot-how to enhance the flexibility of the robot and improve the security. This paper introduces a technology-soft-robot technology which is expected to completely solve the defects of the robot's flexibility. Compared with the traditional rigid robot, the soft robot has the characteristics of natural flexibility and safety, and is more suitable for the interaction of the service robot and the human. In this paper, a kind of honeycomb-type pneumatic bionic robot is put forward from the view of bionics, and the motion performance of the robot is analyzed. The experimental results show that the soft-robot with this configuration has excellent performance in the aspects of extension rate and bending rate, and also has the characteristics of self-variable stiffness, which is a very promising base technology of the robot. The third part discusses the challenge of the service robot in the sense-planning. In the working space, the intelligent service robot needs to use its own sensor to sense the environment information and conduct reasonable behavior planning, but due to the limitation of the performance of the airborne equipment, the environment information obtained by the robot is very limited, and the improvement of its perception planning ability is limited. In recent years, with the rise of the intelligent Internet of things, the intelligent home and the pervasive computing, the sensing ability of the robot is enhanced by using the external sensor information and knowledge. In this paper, an external perception is made by using a flexible sensor, and a planning technique is proposed to further improve the perception planning capability of the intelligent robot. The main contribution and innovation of this paper are as follows: Firstly, based on the good service robot, this paper discusses the design elements of the service robot, and introduces the unique design of the lifting structure, the modular arm and so on. At the same time, a new flexible liability matrix technique is proposed, based on the inverse differential relation between the motion joint and the task space, the joint space compensation is mapped to the end execution space error compensation, and the compensation degree of the actuator in the target dimension is increased by the joint space compensation with a small stiffness loss. Secondly, based on the bionics, this paper presents a new bionic soft-actuator-cellular pneumatic network by using the flexible honeycomb structure to simulate the cell wall and the micro-pneumatic unit to simulate the cell membrane ion pump. In this paper, the static model of the actuator is studied, the kinematic model of the super-redundant parallel mechanism is established, and the dynamic simulation model based on the spring-mass point system is established. At the same time, the prototype is manufactured by the elastic metal and the micro air bag, and the test is carried out. The experiment shows that the expansion rate of the soft actuator can reach 800%, the three-dimensional bending and the expansion capability can be simultaneously carried out, the surface bonding of the target object can be carried out, and the performance is greatly improved compared with the prior software actuator. In the end, the paper studies the ability of the flexible sensor to further improve its environment-aware planning, and puts forward a flexible sensing-planning technique using the intelligent fabric as an external sensor, and focuses on the optimization of the algorithm under the environment sensor. By analyzing the relation between the sampling region and the collision event in the convex space of the random search tree, the problem of reducing the search efficiency by collision detection is proposed, and the sampling region of the exponential stage is adjusted according to the collision information, The speed of the search tree to converge towards the target region is effectively accelerated. The experimental results show that the algorithm has an order of magnitude higher than that of the original RRT algorithm, and the real-time requirement of the sensing planning is achieved.
【學位授予單位】：中國科學技術大學
【學位級別】：博士
【學位授予年份】：2016
【分類號】：TP242
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