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摘 要
I
摘 要
采用 VR 技术结合力反馈机器人用于虚拟操作训练,训练人员能够与虚拟环境中的物
体进行人机交互,提升训练人员操作临场感。不仅锻炼了训练人员操作危险或是复杂环境
中物体的熟练程度,还能降低培训成本。本文主要提出了基于柔索并联的力反馈机器人构
型和控制策略,机器人末端执行器具有 3 个平动和 3 个转动自由度,且能模拟不同大质量
物体在不同环境中的运动特性和力学特性。
分析总结了国内外现有力反馈机器人技术和柔索并联机器人技术研究现状,根据力反
馈机器人功能要求和性能指标,设计了滚珠丝杠串联牵引柔索的驱动单元结构方案,从机
构方面提升驱动单元控制精度。采用八组驱动单元并联组合实现末端执行器的空间六自由
度运动。确定了电机型号和传感器型号,选择集散控制方案对机器人控制系统进行设计,
确定了机器人 CAN 现场总线通讯方案。
建立力反馈机器人的逆运动学模型和正运动学模型,规划力反馈机器人的运动轨迹,
保证机器人系统在与训练人员交互过程中的安全性和稳定性。对新构型力反馈机器人进行
构型拓扑优化,获得末端执行器的最优构型及最佳柔索布局方案。对新构型机器人进行仿
真分析,使机器人完成复杂的空间运动轨迹,验证机器人正逆运动学模型和优化构型的准
确性和合理性。建立力反馈机器人动力学模型,提出柔索张力优化分配算法,保证柔索张
力变化的连续性。
建立基于滚珠丝杠构型的柔索驱动单元数学模型,结合实际控制情况改进驱动单元数
学模型。分别设计驱动单元速度环控制器和双闭环控制器,提升驱动单元控制精度。分析
驱动单元的非线性影响因素,并进行仿真分析,提出驱动单元复合控制策略。
提出力反馈机器人系统控制策略,仿真验证提出的控制策略的可行性和有效性。设计
加工驱动单元的驱动控制板,确定其主控芯片、设计电源电路、驱动电路、电流检测电路、
光耦隔离电路等硬件电路。采用 Matlab/Simulink 软件设计底层程序和控制逻辑程序。搭建
基于 dSPACE 半物理仿真的实验平台,进行模拟微重力环境中物体搬运实验,验证所模拟
的虚拟环境的稳定性和正确性,验证力反馈机器人系统控制策略正确性和稳定性。
关键词:力反馈;柔索并联;控制策略;VR 技术;半物理仿真
Abstract
III
Abstract
VR technology combined with force feedback robots is used for virtual operation training.
Trainers can interact with objects in the virtual environment, improving the operator's sense of
presence. It not only improves the proficiency of training personnel in handling objects in
hazardous or complex environments, but also reduces training costs. This paper mainly proposes
a force feedback robot configuration and control strategy based on flexible cable parallel
connection. The robot end effector has 3 translational and 3 rotational degrees of freedom, and can
simulate the kinematic and mechanical characteristics of different mass objects in different
environments.
The current research status of force feedback robot technology and flexible cable parallel
robot technology at home and abroad is analyzed and summarized. According to the functional
requirements and performance indicators of force feedback robots, a drive unit structure scheme
of ball screw series traction flexible cable is designed to improve the control accuracy of the drive
unit from the perspective of mechanism. Eight groups of drive units are combined in parallel to
achieve the spatial six degrees of freedom motion of the end effector. The motor model and sensor
model are determined, the distributed control scheme is selected to design the robot control system,
and the robot CAN field bus communication scheme is determined.
Establish inverse kinematics model and forward kinematics model of the robot, plan the
motion trajectory of the robot, and ensure the safety and stability of the interaction process between
the robot system and the trainer. The configuration topology optimization of the new configuration
force feedback robot is performed to obtain the optimal configuration of the end effector and the
optimal flexible cable layout scheme. Simulate and analyze the new configuration robot to
complete complex spatial motion trajectory, and verify the accuracy and rationality of the forward
and inverse kinematics model and optimized configuration of the robot. A dynamic model of a
force feedback robot is established, and an algorithm for optimal distribution of cable tension is
proposed to ensure the continuity of cable tension changes.
Establish a mathematical model of the flexible cable drive unit based on the ball screw
configuration, and improve the mathematical model of the drive unit based on the actual control
situation. Respectively design a speed loop controller and a double closed-loop controller for the
东北电力大学工程硕士学位论文
IV
drive unit to improve the control accuracy of the drive unit. Analyze the nonlinear influencing
factors of the drive unit, and conduct simulation analysis to propose a composite control strategy
for the drive unit.
A force feedback robot system control strategy is proposed, and simulation verifies the
feasibility and effectiveness of the control strategy. Design the drive control board of the
processing drive unit, determine its main control chip, design the power circuit, drive circuit,
current detection circuit, optocoupler isolation circuit, and other hardware circuits.The underlying
program and control logic program are designed using Matlab/Simulink software. Establish a
semi-physical simulation experimental platform based on dSPACE to conduct object handling
experiments in a simulated microgravity environment, verify the stability and correctness of the
simulated virtual environment, and verify the correctness and stability of the control strategy of
the force feedback robot system.
Keywords
:Force feedback; cable-driven parallel; control strategy; VR technology; semi-
physical simulation
目 录
- I -
目 录
摘 要 ...................................................................................................................................................... I
Abstract ...................................................................................................................................................... III
目 录 ...................................................................................................................................................... I
第 1 章 绪 论 .................................................................................................................................... 1
1.1 课题研究背景和意义 ..................................................................................................... 1
1.1.1 研究背景 ................................................................................................................. 1
1.1.2 研究目的和意义 ..................................................................................................... 2
1.2 力反馈机器人发展及研究现状 ..................................................................................... 3
1.2.1 力反馈机器人发展概况 ......................................................................................... 3
1.2.2 柔索并联机器人研究现状 ..................................................................................... 6
1.3 论文结构及主要研究内容 ............................................................................................. 9
第 2 章 力反馈机器人方案与设计 ..................................................................................................... 11
2.1 引言 ............................................................................................................................... 11
2.2 功能要求及性能指标 ................................................................................................... 11
2.3 总体结构方案设计 ....................................................................................................... 12
2.3.1 驱动单元结构方案 .............................................................................................. 12
2.3.2 力反馈机器人器件选型 ...................................................................................... 13
2.4 控制方案设计 ............................................................................................................... 15
2.4.1 力反馈机器人控制系统 ...................................................................................... 15
2.4.2 力反馈机器人通讯方案 ...................................................................................... 16
2.5 本章小结 ....................................................................................................................... 17
第 3 章 力反馈机器人建模及仿真分析 ............................................................................................ 19
3.1 引言 ............................................................................................................................... 19
3.2 力反馈机器人运动学 ................................................................................................... 19
3.2.1 建立逆运动学模型 .............................................................................................. 19
3.2.2 建立正运动学模型 .............................................................................................. 21
3.3 力反馈机器人轨迹规划 ............................................................................................... 21
3.3.1 机器人空间构型 .................................................................................................. 21
3.3.2 机器人轨迹规划 .................................................................................................. 22
3.3.3 对比分析 .............................................................................................................. 22
东北电力大学工程硕士学位论文
- II -
3.4 优化构型 ....................................................................................................................... 25
3.4.1 构型拓扑优化 ...................................................................................................... 25
3.4.2 仿真分析 .............................................................................................................. 27
3.5 柔索张力分配 ............................................................................................................... 28
3.5.1 建立动力学模型 .................................................................................................. 28
3.5.2 柔索张力分配方法 .............................................................................................. 29
3.6 本章小结 ....................................................................................................................... 31
第 4 章 驱动单元控制策略研究 ......................................................................................................... 33
4.1 引言 ............................................................................................................................... 33
4.2 驱动单元数学模型建模 ............................................................................................... 33
4.2.1 建立驱动单元数学模型 ...................................................................................... 33
4.2.2 改进驱动单元数学模型 ...................................................................................... 34
4.3 驱动单元控制器设计 ................................................................................................... 35
4.3.1 速度环控制器设计 .............................................................................................. 35
4.3.2 双闭环控制器设计 .............................................................................................. 37
4.4 系统非线性的影响 ....................................................................................................... 38
4.4.1 摩擦非线性影响 .................................................................................................. 38
4.4.2 摩擦非线性的分析 .............................................................................................. 39
4.5 本章小结 ....................................................................................................................... 42
第 5 章 力反馈机器人系统控制策略 ................................................................................................. 43
5.1 引言 ............................................................................................................................... 43
5.2 机器人系统控制策略 ................................................................................................... 43
5.3 实验研究 ....................................................................................................................... 45
5.4 实验验证 ....................................................................................................................... 48
5.5 本章小结 ....................................................................................................................... 56
结 论 ................................................................................................................................................... 57
参考文献 ................................................................................................................................................... 59
攻读硕士学位期间发表的论文及其它成果 ........................................................................................ 65
东北电力大学学位论文原创性声明和使用权限 ................................................................................ 67
《中国优秀博硕士学位论文全文数据库》和《中国学位论文全文数据库》投稿声明 .......
致 谢 ................................................................................................................................................... 71
....
69
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