| Industrial robot is a very important automatic equipment in the modern industry which has integrate mechanics, electronics, control theory, computer science and artificial intelligence. Robot trajectory planning is a very important research field in the robotics and the joint of artificial intelligence and robotics.This thesis use the geodesic property of the modern differential geometry to plan the shortest trajectory of two points and apply the this theory into optimal trajectory planning of the three freedom robot. First according to the optimal goal to set up the Riemannian equation, then write the analytic expression of the geodesic equation and convert geodesic equation into the standard equation of state, then write the converted equation of state as a M file; Define the initial direction of the geodesic initial piont then make sure the geodesic line can pass the defined final piont. According to the initial condition call the ODE 45 function to solve the geodesic differential equations.This thesis use the feedforward plus PD control theroy, when the system has the disturbance survey it right away according to the disturbance quatity size to change the controlling quatity through the feedforward controller so that to counterbalance or reduce the disturbance impact to the controlled quatity. Also use the PD control method together to make the error compesation.In order to verify the correctness of the geodesic based trajectory planning method so use an experimental platform. First design a robot by PowerCube module. The PowerCube module robot has four PR70 modules and one PW70 module. The platform is composed of one PowerCube robot, one Bumblebee2 three dimension stereoscopic vision sensor and tow computers.The results show that: the geodesic simulation trajectory and the measured value by the Bumblebee2 dimension stereoscopic vision sensor are basically same. So the geodesic based trajectory planning method is absolutely right. |
PDF Full Text Request