| Humanoid dual-arm robot has its unique advantages in the field of precision polish,precision assembly,heavy load handling and other fields,and it is the developing direction of the next generation of intelligent industrial mechanical arm.The dual-arm robot is a manipulator system,which is designed according to the structure and degree allocation of human arm,and studied by many researchers for its characteristics of large operating space,high flexibility and coordination ability.Due to existence of the redundant degree of freedom,the stage of motion control researches on dual-arm robot system represents the academic status on mechanical arm research field of a nation.The humanoid dual-arm robot is chosen as the research objective in this dissertation,and taken the human arm movement mechanism,robot motion planning method and a dual-arm coordinated motion control as the research content to solve the problems of complex operation in the traditional motion planning method of,low efficiency and nonlinear in the motion control system of dual-arm robot.The main contents of this dissertation are as follows:1.An evaluation method for arm joint rotation based on right angle trigonometric function is proposed.According to the characteristics of the human arm,combined with human anatomy,respectively stated in details and kinematics-analyzed on the shoulder,elbow and forearm and wrist,constructed the human arm movement chain with shoulder-elbow-wrist composition,and modeled its kinematics.The trajectory of the joint angle,the angle of the arm and the force characteristics of the muscle were analyzed,and the calculation of the joint torque of the shoulder and elbow was solved.2.Based on the motion captured data of human arm,a new method of calculating the joint angle of the dual quaternion space vector method is proposed.Aiming at improving the shortcomings of the traditional human motion capture method,this dissertation describes the advantages of the optical motion capture system and the problems need to be solved.In this dissertation,the space vector method is used to calculate the joint angles of human shoulder and elbow,and the prototype mark position of inverse kinematics is solved by dual quaternion,which avoids the singularity of Euler angle.3.A method based on the Euclidean group structure and the inverse solution of optimal control is proposed.For the target of the robot arm movement in human reproduction,the changing data of velocity and joint angle on captured human arms trajectory is corrected,the modified data and the robot model is kinematics-matched,it solves the optimal model problem from human motion data to dual-arm robot.The personified motion of humanoid robot is realized.4.Comparison of different control strategies for position tracking accuracy of dual arm robot.On the basis of the classical backstepping controller design,an improved dual-arm coordinated backstepping control strategy is established.This strategy has three characteristics:first,using the fuzzy approximation backstepping control algorithm,the nonlinear and uncertainty are estimated to further improve the accuracy of the end-effector position tracking.Control system based on a combination of force and position realizes fuzzy approaching to the desired trajectory of the end-effector,and completes the coordinating grasping task of dual-arm robot.Second,using the extended adaptive backstepping control method to control dual-arm robot stably,and to reduce complexity of the controller with the first-order filter.This dissertation proposes a fuzzy adaptive backstepping control method based on torque compensation.Third,using sliding mode adaptive backstepping control method to reduce the total system interference and combining with the characteristics of nonlinear disturbance observer,this dissertation proposes a sliding mode adaptive backstepping control method of nonlinear disturbance observer,which weakens the chattering of sliding mode control,improves the performance in the control system of dual-arm robot and guarantees the stable operation of dual-arm robot system.5.This dissertation proposes an integrated plan of dual-arm robot control along with anthropomorphic coordination and stable operation.According to the problem of anthropomorphosis operation with robot arms,the effectiveness of the proposed method has been verified by the current general V-REP simulation platform,it provides a new direction and method for dual-arm robot coordinate stability control as well as the personification of repetition operation,it extends the application of dual-arm robot.In addition,it has a positive academic guidance value and important practical significance. |
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