Research On Autonomous Task Control And Path Planning Of Construction Robot

With the development of technology of space, the sea and atomic energy, the advanced robots which work in the limit working environment which is dangerous or hazardous for mankind is currently needed, so the teleoperation robot technology based on the telepresence has been used widely. In the system of teleoperation construction robot technology based on the telepresence, part of communication is a telepresence system's module that takes charge of exchanging and connecting data; is a transmission line with control information, sensor information, video frequency and image information. It's an essential guarantee for system working normally. But at present the teleoperation robot technology based on the telepresence is not effective for big time-delay system, because big over-time maybe make operator send wrong order to robots and make them in the danger because of being lack of real time information about working environment. Experiences tell us the time that must be cost in an assignment is increasing with transmission time-delay.Researchers have gained some progress in the forecast indication, which in a certain extent eased the influence that time delay makes to teleoperation. Although forecast indication can indicate implementation of the order immediately, it is not able to solve the problem exists fundamentally. In recent years, the teleoperation construction robot system has autonomous function has been asked for. When the transmission lines are disrupted and teleoperation can not be carried out, the autonomous task system still can complete the key task which must complete in the part-time independent nodes automatically. Teleoperational construction robot with the ability of avoiding obstacles will enable the robot teleoperation system adapt to the more complex operating environment and more complex tasks. To achieve working independently and avoiding obstacles to complete their tasks, robot needs path planning. Choose reliable obstacle avoidance algorithm for, for the realization of robot teleoperation system works smoothly and avoidances collision independently. Such research and development have great theoretical significance practical value in many areas, such as nuclear physics, space, ocean exploration, rescue and other special areas.This dissertation combines the project of national natural science fund (No. 50475011), relies on the experiment platform of four degree of freedom teleoperation hydraulic-servo manipulator in mechatronic engineering laboratory of Jilin University, bases on the foundation of "Autonomous Task Control System of Construction Robot Based on Stereo Vision", and researches on collision avoidance of construction robot. In order to realize the collision avoidance of construction robot, the dissertation has researched on kinematics analysis, collision avoidance algorithm, path interpolation algorithm and PD Control algorithm. Finally, this dissertation have programmed for this system by using VC++ and have tested on the experiment platform of four degree of freedom teleoperation hydraulic-servo manipulator in mechatronic engineering laboratory of Jilin University.This paper has completed the following four aspects work:Firstly, using methods of the coordinate transformation, by setting up connecting rod reference frame of four degree of freedom teleoperation robot, determining the homogeneous matrix of connecting rod and have found kinematic equation. Determining the relation between the joint angle position and the Hydraulic cylinder elongation and establishing the mathematical foundation. Secondly, considering the issue of mechanical structure and parameters of test platform, using advanced Khatib method to gain discrete coordinates of robot. Simulating and has proved its superiority.Thirdly, expounding the principle of PD control algorithm and deducting the algorithm, and has determined K p, K D and T by testing.Finally, proving the applicability of Collision Avoidance algorithm according to test on the experiment platform of four degree of freedom teleoperation hydraulic-servo manipulator in mechatronic engineering laboratory of Jilin University.The main innovative works have been accomplished as follow: Firstly, has used path plan method that bases on improved potential field function in Teleoperation Construction Robot with joints for the first time, and has realized operation for preventing collisions.Secondly, using advanced PD control algorithm has improved system response characteristics.Test results show that the autonomous avoidance collision task system of the construction robot has preliminarily been able to complete their task smoothly. The work that has done in this article provided valuable experience and success examples for the deeper autonomous task technology of the teleoperation robot in the future.