提高串联机械臂运动精度的关键技术研究
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摘要
随着工业机器人的市场需求越来越大,各种类型的服务机器人层出不穷,挖掘串联机械臂的核心共性技术,探索国内外串联机械臂存在的问题并提供有效的解决方案是一项十分紧迫的任务。运动精度作为串联机械臂的一个重要性能指标,是机械臂完成操作任务的重要保证。随着机械臂应用环境的逐步复杂化,人们对机械臂的运动精度提出了更高的要求。但由于机械臂几何误差、环境噪声、振动干扰等原因导致机械臂实际的运动性能与期望的高精度运动性能相比还有较大的差距。因此,对提高串联机械臂的运动精度的关键技术展开研究具有非常重要的意义。
本文以六自由度串联机械臂作为研制对象和实验平台,采用理论分析、仿真和实验相结合的方法,以提高串联机械臂运动精度为目标,对其展开了较为全面的研究。内容包括：精度分析、运动学建模、轨迹规划和优化、控制系统的研制、参数标定及控制变量补偿和主动动态平衡的实现。
全文主要解决了串联机械臂精度提升的理论分析和技术实现两个基本问题,并在以下几个方面取得一些创新成果：
1、研究了串联机械臂轨迹优化算法。对关节轨迹的执行时间进行归一化处理,并在此基础上提出一种五阶关节运动轨迹插值算法,充分满足轨迹给定的约束条件,保证关节位置轨迹、速度轨迹和加速度轨迹的连续性。通过理论分析和仿真验证了关节轨迹的时间起点和执行时间对关节运动轨迹曲线的影响。在此基础上,以避免超调量、能耗最小、轨迹最平滑等指标作为优化目标,计算关节轨迹执行时间的最优解集。通过数值仿真,证明优化后的运动轨迹可有效避免位置轨迹的超调量、提高机械臂的工作效率,并且保证关节位置始终处于机械臂的运动空间。依据该方法构建多关节运动时间间隔的约束条件,并以此为基础完成串联机械臂多关节轨迹规划。
2、提出一套简单且实时性强的机械臂控制变量补偿方法以减少甚至消除机械臂的运动学误差。针对机械臂关节位置闭环控制系统提出一种配对交叉实数编码遗传算法,优化机械臂控制变量。同时,采用实时预测补偿控制方法,将关节位置期望输入信号以及根据位姿误差预测估计的控制变量补偿量作为控制系统的参考输入,优化关节位置闭环控制系统,对机械臂末端执行器的位姿误差进行补偿,以提升串联机械臂的绝对定位精度。在串联机械臂上进行的实验,结果表明该补偿策略可有效提高串联机械臂的运动精度。
3、为了减小机械振动对机械臂运动精度造成的影响,设计主动动态平衡机构抵消机械臂承受的振动力或振动力矩。详细介绍了实时的主动动态平衡技术。首先介绍一维力平衡机构,分析机构的动力学模型。在此基础上研究一维力矩平衡机构,分析旋转圆盘的主动动态平衡原理,将该平衡机构安装在串联机械臂上以实现机械臂一维力矩动态平衡。实验验证了该机构的动态性能以及其主动消振性能。最后,为了实现振动力和振动力矩的同时消除,设计一个紧凑、易安装的三自由度动态平衡机构。
论文为了满足串联机械臂严格的安装空间限制要求,将平衡机构设计为由三个独立运动的连杆构成。通过三个连杆旋转运动产生期望的转矩实现机械臂基座的力矩平衡,同时实时调整三个连杆在平面内的质心位置产生平衡力,从而同时实现机械臂基座的二维力以及一维力矩的动态平衡。采用拉格朗日方程对该机构的动力学进行分析,并计算平衡机构内部连杆的运动参数与其产生的平衡力以及平衡力矩的数学关系。在Matlab和Maple环境中进行数值仿真,验证了主动动态平衡机构的有效性、可靠性及灵活性。
The growing market for industrial and service robots requires the development of common and core technology for serial manipulators by taking insight into and addressing the related existing problems. As an important criterion for serial manipulators, motion accuracy is the key for perfect operation. Since application environments are becoming complex gradually, better motion accuracy of the manipulator is required. However, there is a big gap between the actual motion performance and the desired high accuracy robust motion performance of the manipulator, owing to the geometrical errors, ambient noise, vibration interferences of the manipulator. Therefore, improving motion accuracy of serial manipulator is of great significance in the development of robotic technology.
With the goal of improving the motion accuracy of serial manipulator, the dissertation addresses the comprehensive study of a6-DOF serial manipulator, based on the integrated approach of theoretical analysis, numerical simulation and experimental validation. The research focuses on precision analysis, kinematics modeling, trajectory planning and optimization, real-time control system, parameter calibration, control variable compensation and active dynamic balancing of the serial manipulator.
The innovative contents of the dissertation are summarized as follows:
1. Research on trajectory optimization algorithm for serial manipulator is carried out. A fifth order polynomial is used for joint trajectory planning of the manipulator. Both theoretical analysis and simulation results illustrate that the execution time of the trajectory wields a lot of influence over the movements of the joints. In order to solve this problem, an optimizing method of execution time is proposed for generating smooth motion trajectories with smallest overshoot and lowest energy consumption. Numerical examples are presented in order to evaluate the performance of this optimizing method. Simulation results indicate that the high-performance of the optimized movements can produce effective enhancements of the productivity of the manipulator. On the basis of this optimization method, the execution time constraints of the multi-joint motion planning are established, and multi-joint motion planning for six-DOF manipulator are hence obtained.
2. In order to reduce or even eliminate kinematics error of the manipulator's end-effector, a compensation method with high reliability, strong real-time capability is introduced in this dissertation. A real-coded and arithmetic recombination genetic algorithm is adopted in joints' closed-loop servo motion control system, with the aim to optimize the control variables. Optimized parameters are used in the real-time predictive compensation control system with the purpose of reducing the manipulator's motion errors. Numerical examples are presented in order to evaluate the performance of the compensation strategy, as well as the feasibility and effectiveness of improving positioning accuracy.
3. In consideration of adverse impacts of the machine vibrations, an active dynamic balancing mechanism is designed to reduce the shaking forces and shaking moments of the manipulator. The dissertation presents the real-time active balancing techniques. A one-DOF force balancing,mechanism is firstly presented, and its dynamic modeling is built and analyzed. Moreover, the dissertation presents a study on a one-DOF moment balancing mechanism. Active vibration control for rotating machinery is explained in detail. Then the balancing machanism is mounted on an unbalanced serial manipulator, hence one-dimensional moment of the manipulator is dynamically balanced. Experiments are carried out with the aim to validate the dynamic performance of the balancing mechanism and the active vibration cancellation. Finally, a simple and compact three-DOF balancing unit is designed to balance both shaking-force and shaking-moment of the manipulator simultaneously.
Due to the limited setting space, three independent links are used to constitute the balancing unit. By using the Lagrange equations, their dynamics model are established, and mathematical relations among the links' motion parameters and balancing-force and balancing-moment are formulated as well. In addition, numerical simulations are presented with the aim to give insight in the possibilities and effectiveness of three-DOF active dynamic balancing.
本文以六自由度串联机械臂作为研制对象和实验平台,采用理论分析、仿真和实验相结合的方法,以提高串联机械臂运动精度为目标,对其展开了较为全面的研究。内容包括：精度分析、运动学建模、轨迹规划和优化、控制系统的研制、参数标定及控制变量补偿和主动动态平衡的实现。
全文主要解决了串联机械臂精度提升的理论分析和技术实现两个基本问题,并在以下几个方面取得一些创新成果：
1、研究了串联机械臂轨迹优化算法。对关节轨迹的执行时间进行归一化处理,并在此基础上提出一种五阶关节运动轨迹插值算法,充分满足轨迹给定的约束条件,保证关节位置轨迹、速度轨迹和加速度轨迹的连续性。通过理论分析和仿真验证了关节轨迹的时间起点和执行时间对关节运动轨迹曲线的影响。在此基础上,以避免超调量、能耗最小、轨迹最平滑等指标作为优化目标,计算关节轨迹执行时间的最优解集。通过数值仿真,证明优化后的运动轨迹可有效避免位置轨迹的超调量、提高机械臂的工作效率,并且保证关节位置始终处于机械臂的运动空间。依据该方法构建多关节运动时间间隔的约束条件,并以此为基础完成串联机械臂多关节轨迹规划。
2、提出一套简单且实时性强的机械臂控制变量补偿方法以减少甚至消除机械臂的运动学误差。针对机械臂关节位置闭环控制系统提出一种配对交叉实数编码遗传算法,优化机械臂控制变量。同时,采用实时预测补偿控制方法,将关节位置期望输入信号以及根据位姿误差预测估计的控制变量补偿量作为控制系统的参考输入,优化关节位置闭环控制系统,对机械臂末端执行器的位姿误差进行补偿,以提升串联机械臂的绝对定位精度。在串联机械臂上进行的实验,结果表明该补偿策略可有效提高串联机械臂的运动精度。
3、为了减小机械振动对机械臂运动精度造成的影响,设计主动动态平衡机构抵消机械臂承受的振动力或振动力矩。详细介绍了实时的主动动态平衡技术。首先介绍一维力平衡机构,分析机构的动力学模型。在此基础上研究一维力矩平衡机构,分析旋转圆盘的主动动态平衡原理,将该平衡机构安装在串联机械臂上以实现机械臂一维力矩动态平衡。实验验证了该机构的动态性能以及其主动消振性能。最后,为了实现振动力和振动力矩的同时消除,设计一个紧凑、易安装的三自由度动态平衡机构。
论文为了满足串联机械臂严格的安装空间限制要求,将平衡机构设计为由三个独立运动的连杆构成。通过三个连杆旋转运动产生期望的转矩实现机械臂基座的力矩平衡,同时实时调整三个连杆在平面内的质心位置产生平衡力,从而同时实现机械臂基座的二维力以及一维力矩的动态平衡。采用拉格朗日方程对该机构的动力学进行分析,并计算平衡机构内部连杆的运动参数与其产生的平衡力以及平衡力矩的数学关系。在Matlab和Maple环境中进行数值仿真,验证了主动动态平衡机构的有效性、可靠性及灵活性。
The growing market for industrial and service robots requires the development of common and core technology for serial manipulators by taking insight into and addressing the related existing problems. As an important criterion for serial manipulators, motion accuracy is the key for perfect operation. Since application environments are becoming complex gradually, better motion accuracy of the manipulator is required. However, there is a big gap between the actual motion performance and the desired high accuracy robust motion performance of the manipulator, owing to the geometrical errors, ambient noise, vibration interferences of the manipulator. Therefore, improving motion accuracy of serial manipulator is of great significance in the development of robotic technology.
With the goal of improving the motion accuracy of serial manipulator, the dissertation addresses the comprehensive study of a6-DOF serial manipulator, based on the integrated approach of theoretical analysis, numerical simulation and experimental validation. The research focuses on precision analysis, kinematics modeling, trajectory planning and optimization, real-time control system, parameter calibration, control variable compensation and active dynamic balancing of the serial manipulator.
The innovative contents of the dissertation are summarized as follows:
1. Research on trajectory optimization algorithm for serial manipulator is carried out. A fifth order polynomial is used for joint trajectory planning of the manipulator. Both theoretical analysis and simulation results illustrate that the execution time of the trajectory wields a lot of influence over the movements of the joints. In order to solve this problem, an optimizing method of execution time is proposed for generating smooth motion trajectories with smallest overshoot and lowest energy consumption. Numerical examples are presented in order to evaluate the performance of this optimizing method. Simulation results indicate that the high-performance of the optimized movements can produce effective enhancements of the productivity of the manipulator. On the basis of this optimization method, the execution time constraints of the multi-joint motion planning are established, and multi-joint motion planning for six-DOF manipulator are hence obtained.
2. In order to reduce or even eliminate kinematics error of the manipulator's end-effector, a compensation method with high reliability, strong real-time capability is introduced in this dissertation. A real-coded and arithmetic recombination genetic algorithm is adopted in joints' closed-loop servo motion control system, with the aim to optimize the control variables. Optimized parameters are used in the real-time predictive compensation control system with the purpose of reducing the manipulator's motion errors. Numerical examples are presented in order to evaluate the performance of the compensation strategy, as well as the feasibility and effectiveness of improving positioning accuracy.
3. In consideration of adverse impacts of the machine vibrations, an active dynamic balancing mechanism is designed to reduce the shaking forces and shaking moments of the manipulator. The dissertation presents the real-time active balancing techniques. A one-DOF force balancing,mechanism is firstly presented, and its dynamic modeling is built and analyzed. Moreover, the dissertation presents a study on a one-DOF moment balancing mechanism. Active vibration control for rotating machinery is explained in detail. Then the balancing machanism is mounted on an unbalanced serial manipulator, hence one-dimensional moment of the manipulator is dynamically balanced. Experiments are carried out with the aim to validate the dynamic performance of the balancing mechanism and the active vibration cancellation. Finally, a simple and compact three-DOF balancing unit is designed to balance both shaking-force and shaking-moment of the manipulator simultaneously.
Due to the limited setting space, three independent links are used to constitute the balancing unit. By using the Lagrange equations, their dynamics model are established, and mathematical relations among the links' motion parameters and balancing-force and balancing-moment are formulated as well. In addition, numerical simulations are presented with the aim to give insight in the possibilities and effectiveness of three-DOF active dynamic balancing.
引文
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