| Robotics technology is a comprehensive technology with a high degree of interdisciplinarity.Its R&D,manufacturing,and application are essential measures of a country’s technological innovation and high-end manufacturing level.The traditional non-redundant robotics technology has been perfected day by day.However,it is affected by its essential characteristics,and there still exist many problems in the application in complex and dynamic environments.It is challenging to meet the constantly increasing engineering needs in scientific and technological development.With the research in recent years,the advantages of redundant robots have gradually emerged,which will be one of the key development directions of robotics.At this stage,there still exists a vast research space for the configuration synthesis and motion planning methods of redundant robots.Existing configuration synthesis strategies generally with degrees of freedom as known.However,the degrees of freedom need to be introduced as variables in the design works for redundant robots.At the same time,the problem of global motion planning without task trajectory constraints is also a topic worthy of discussion.In summary,this thesis will focus on the configuration synthesis and global motion planning of redundant robots.The main contents are as follows:(1)Research on configuration analysis method of indeterminate degrees of freedom(DOF).An expression method of robot configuration relationship considering different DOFs is established,which solves the shortcomings of the traditional configuration synthesis ideas.Firstly,a configuration modeling method of robots is given.And then,the configuration iteration formula is established,the concept of the configuration tree is proposed,and the iterative process is expressed as a configuration tree.Finally,the distribution characteristics of different performance indexes on configuration trees are based on statistical analysis.(2)Research on efficient configuration synthesis method.Based on the distribution characteristics of performance indexes on the configuration tree,the configuration performance estimation principle is given,and an efficient configuration synthesis method is established.Firstly,by analyzing the configuration’s characteristics on the configuration tree,a configuration performance estimation method is given,and a treeevolution synthesis strategy is established.Then,specific algorithms are given respectively for the two sub-problems in the configurational synthesis.Finally,the correctness and efficiency of the method are verified by a series of examples.(3)Research on the principle of task placement.The performance manifold theory is proposed,the concept of operation domain is defined,and the problem of task placement position selection in motion planning proceeding is solved.Firstly,the concept of performance manifolds is proposed.The idea of a step-by-step search is given to realize the identification of connected branches of performance manifolds and solve the classification problem of performance manifolds.Then,positive kinematics is introduced to define effective task placement.Finally,a specific example is given to verify the correctness of the method.(4)Research on the efficient manifold calculation method.An element evolution strategy is proposed,which solves the problems of difficult identification of manifold geometry,difficulty in expressing high-dimensional manifolds,and computational difficulty.Firstly,the grid element establishment criteria and specific modeling methods are proposed,and the method of manifold represented with grid elements is given.Then,the computational problem of the manifold is transformed into the search problem of the dynamic model,and the element evolution strategy and algorithm are presented.The efficiency of the manifold computation is greatly improved.Finally,the correctness and completeness of the algorithm are verified by specific examples.(5)Research on global motion planning method.An intra-domain search strategy is proposed to solve the global motion planning problem of the robot.Firstly,the grid elements model of the robot’s C-space and workspace is established,and the mapping criterion between the elements models is represented.Then,a complete set of robot global motion planning strategies and algorithms is given to synchronously solve the task placement and trajectory planning problem.Finally,the influence of parameters on planning results is analyzed through specific examples,and the correctness of the algorithm is verified. |
