| 题名 | 机器人遥操作系统设计与控制方法研究 |
| 作者 | 闫林林 |
| 学位类别 | 硕士 |
| 答辩日期 | 2015-05-26 |
| 授予单位 | 中国科学院沈阳自动化研究所 |
| 授予地点 | 中国科学院沈阳自动化研究所 |
| 导师 | 徐方 |
| 关键词 | 机器人遥操作 运动学算法 通信系统 三维动态仿真 |
| 其他题名 | Research on Control Method and Design of Robot Teleoperation System |
| 学位专业 | 控制工程 |
| 中文摘要 | 人们对新领域及未知世界的探索，使得机器人不得不服务于一些极端的工作环境，如爆破、深海开发、核辐射等领域。机器人遥操作系统是在人的参与和控制下使远程机器人在人类难以涉足的环境中完成复杂工作的控制系统。机器人遥操作作为人类对未知领域探索的延伸工具，实现设备在不同空间上的协调工作，帮助人类完成难以通过直接控制实现的复杂操作，其已经成为自动化领域的一个热点研究方向。本文在分析了机器人遥操作控制系统的基本组成架构，选取了并联机构的主控手作为主端操作设备，而并联主控手的运动学控制算法的优良对于主手的响应速度及性能有很大的影响。通讯系统的设计方法会影响主从端的数据传输时延及系统控制的稳定性，所以主控手运动学算法和通信系统控制方法的设计是影响机器人遥操作系统控制性能的重要因素，同时，遥操作系统所需设备的昂贵也是其研究上的一个阻碍。因此，本文主要的研究工作有：（1）调研了国内外机器人遥操作系统相关领域的研究成果及研究进展，在分析了遥操作系统的功能、架构组成及研究热点后，提出了一种机器人遥操作仿真系统的搭建方法，分析了并联主控手运动学算法解析解的求解方法，并对遥操作系统的通信平台进行了研究。（2）对遥操作系统中的并联主控手的运动学进行了分析，根据并联结构并联的特点，其正向运动学的求解比较复杂，本文提出了一种Delta型并联机构的运动学算法。鉴于并联机构的仿真平台较少，开发了一套Delta机器人的三维仿真平台，用于Delta并联机构运动控制的相关算法验证。 （3）分析了遥操作平台中的通信系统的架构，研究了针对遥操作中的通信系统的相关问题，结合传统的TCP协议和UDP协议各自的优缺点，设计了一套以UDP协议为基础的增强型UDP的通信机制，在保证遥操作系统所要求的数据可靠性基础上，提升了数据的传输效率。（4）在研究了主从控制算法后，设计并搭建了一套以计算机图形学为基础的遥操作仿真平台。在遥操作主端和从端仿真平台上，分别构件了主控手和从机器人的三维仿真动态模型，嵌入了主控手和从机器人的运动学算法模型。通过两端仿真平台上的通信系统上的数据传输，主手直接对从端机器人进行控制，使得遥操作系统中的控制算法可以在两台普通的PC机上进行试验验证。（5）在遥操作仿真系统平台上，分别针对主从异构和主从同构的主从控制算法的正确性验证以及整套仿真平台的可靠性验证进行了试验设计，并对试验结果进行了分析。 |
| 索取号 | TP242/Y17/2015 |
| 英文摘要 | People explore new fields and the unknown world, so that the robot had to serve some extreme working environment, such as blasting, deep ocean exploitation, nuclear radiation field. Robot teleoperation system is the control system that with the help of participation and control of people, the remote robot performs complicated tasks in the environment to be difficult to come in for the people. As an extension tool for human exploration of the unknown field, robot teleoperation system can realize that robots work in different space, which helps people to complete the complex task to be difficult for people through direct control, and it has become a hot research direction in the field of automation.Based on the analysis of the basic architecture of robot teleoperation control system, the master hand of parallel mechanism is selected as the operation device, and the kinematics control algorithm of the parallel master hand has a great influence on the speed of response. The design method of communication system can influence the stability of control system and the data transmission delay between the master and the slave. Thus the kinematics algorithm of the master hand and the design method of communication system is the important factor that affects the control performance. Meanwhile, the expensive equipment that the control system requires has becomes an obstacle of the study on the robot teleoperation system. Therefore, the main research work of this paper is the follow points.(1)The achievement and progress of related fields is researched at home and abroad. After the analysis of the function, architecture and the research focus of remote operating system, a method to build robot teleoperation simulation system is presented, the solution of kinematics of the parallel master hand is analyzed, and the communication platform is studied.(2)Through the analysis of kinematics of the parallel mechanism, it is complex to so solve the forward kinematics according to the characteristics of the parallel structure, and an algorithm of the Delta parallel mechanism is proposed in this paper. Because of the lack of simulation platform of parallel mechanism, the 3D simulation platform of Delta robot is developed, and it can verify the correctness of the relevant algorithm of Delta parallel mechanism. Then, the correctness of the kinematics algorithm of the master hand is verified in the 3D simulation platform.(3)Based on the analysis of the communication system of the teleoperation platform, relevant problems of the communication system is researched. Combining the advantages and disadvantages of the traditional TCP protocol and UDP protocol, the improved communication protocol is designed based on UDP protocol, which enhances the speed of data transmission under the premise of ensuring the stability.(4)After research on the master-slave control algorithm, the robot teleoperation simulation platform based computer graphics is designed. The 3D dynamic simulation models of the master hand and the slave robot are built in the master simulation platform and the slave simulation platform, in which the kinematics algorithm models of the master hand and the slave robot is embedded. Through the data transmission between the master simulation platform and the slave simulation platform, the slave robot can be controlled by the master hand, which achieves the aim that the control algorithm of robot teleoperation can be tested at the two ordinary computers.(5) In the robot teleoperation simulation system platform, the experiments are designed to verify the correctness of master-slave control algorithm and the reliability of the robot teleoperation simulation system, and the test results are analyzed. |
| 语种 | 中文 |
| 产权排序 | 1 |
| 页码 | 71页 |
| 内容类型 | 学位论文 |
| 源URL | [http://ir.sia.ac.cn/handle/173321/16735]  |
| 专题 | 沈阳自动化研究所_其他 |
| 推荐引用方式 GB/T 7714 | 闫林林. 机器人遥操作系统设计与控制方法研究[D]. 中国科学院沈阳自动化研究所. 中国科学院沈阳自动化研究所. 2015. |
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