PowerCube模塊化機(jī)器人基于測地線軌跡規(guī)劃的研究.pdf

1、大連交通大學(xué)碩士學(xué)位論文PowerCube模塊化機(jī)器人基于測地線軌跡規(guī)劃的研究姓名：衣勇申請(qǐng)學(xué)位級(jí)別：碩士專業(yè)：機(jī)械制造及其自動(dòng)化指導(dǎo)教師：張連東20090606大連交通大學(xué)工學(xué)碩十學(xué)位論文AbstractIndustrialrobotisaveryimportantautomaticequipmentinthemodemindustrywhichhasintegratemechanics，electronics，controltheo

2、ry，computerscienceandartificialintelligenceRobottrajectoryplanningisaveryimportantresearchfieldintheroboticsandthejointofartificialintelligenceandroboticsThisthesisusethegeodesicpropertyofthemodemdifferentialgeometrytopl

3、antheshortesttrajectoryoftwopointsandapplythethistheoryintooptimaltrajectoryplanningofthethreefreedomrobotFirstaccordingtotheoptimalgoaltosetuptheRiemannianequation，thenwritetheanalyticexpressionofthegeodesicequationandc

4、onvertgeodesicequationintothestandardequationofstate，thenwritetheconvertedequationofstate硒aMfile；DefinetheinitialdirectionofthegeodesicinitialpiontthenmakesurethegeodesiclinecanpassthedefinedfmalpiontAccordingtotheinitia

5、lconditioncalltheODE45functiontosolvethegeodesicdifferentialequationsThisthesisUSethefeedforwardplusPDcontroltheroy，whenthesystemhasthedisturbancesurveyitrightawayaccordingtothedisturbancequatitysizetochangethecontrollin

6、gquatitythroughthefcedforwardcontrollerSOthattocounterbalanceorreducethedisturbanceimpacttothecontrolledquatityAlsousethePDcontrolmethodtogethertomaketheerrorcompesationInordertoverifythecorrectnessofthegeodesicbaSedtraj

7、ectoryplanningmethodSOuseanexperimentalplatformFirstdesignarobotbyPowerCubemoduleThePowerCubemodulerobothasfourPR70modulesandonePW70moduleTheplatformiscomposedofonePowerCuberobot，oneBumblebee2threedimensionstereoscopicvi

8、sionsensorandtOWcomputersTheresultsshowthat：thegeodesicsimulationtrajectoryandthemeasuredvaluebytheBumblebee2dimensionstereoscopicvisionsensorarebaSicallysameSothegeodesicbaSedtrajectoryplanningmethodisabsolutelyrightKey