【作者】 李锋；

【导师】 袁建军；

【作者基本信息】 上海交通大学 ， 机械电子工程， 2012， 硕士

【摘要】 自911以来,应用于爆炸物检测、排除和处理的排爆机器人已成为减少人员伤亡、保障社会安定的重要装备。本论文面向复杂环境中遥操作排爆作业,设计了底层控制硬件和软件系统,实现了移动载体和机械臂的遥操作控制。针对遥操作排爆机器人智能化程度低及自主控制功能不足等问题,研究了移动载体的自主行走及机械臂轨迹控制中的能耗优化问题。本论文的研究丰富了排爆作业的局部自主控制功能,具有重要的研究意义和应用价值。论文针对周围存在障碍物等复杂排爆环境,研究了中型排爆机械手的多模式遥操作装置和方法,设计了排爆作业的单轴运动、姿态调整、多轴轨迹联动等三种遥操作模式,推导了不同模式下机械臂运动学方程并编程实现;设计了排爆机器人底层控制实时软件,采用WINCE控制平台,利用Embedded Visaul C++语言实现了数据通信、底层控制控制、无线网络通讯等多种功能,并通过试验验证了控制系统的有效性和可靠性。针对移动载体在狭窄空间行走作业中临场感差,操作性能不足等问题,本文面向走廊式窄道设计了一种基于激光雷达的智能行走辅助系统,操作人员只需下达前进、后退、转弯等命令,智能辅助行走系统可实现移动载体的自主行走且不与环境发生碰撞;论文针对排爆机器人作业任务繁多且能源有限的现状,开展了平面冗余度机械臂轨迹控制中能量消耗最小化的研究,结合ADAMS和MATLAB的联合仿真与模式搜索法,编制了能量优化算法,通过计算机仿真验证了该算法的有效性。经试验验证,本论文研制的反恐排爆机器人系统的下位机层控制和智能辅助系统,可高效可靠地完成反恐作业队伍中的排爆任务,提高了排爆作业的适用范围和智能化水平,达到了设计要求。更多还原

【Abstract】 Since 911, the explosive ordnance disposal (EOD) robot that is applied to detect, remove and dispose explosives has become the important equipment that could reduce casualties and safeguard social stability. In this paper, a bottom control hardware and software system is designed for tele-robot EOD operation facing complex environment, and it realize remote control operation of the mobile carrier and mechanical arm. Problems of independent walking of mobile carrier and energy optimization during controlling mechanical arm track are studied, which aims at the low level of intelligence of the EOD robot and its lack of autonomous control function. The researches in this paper rich the local autonomous control of eod operation, which has important significance and application value.To the complex environment with lots of obstacles around multi-mode device and method of the planar medium-sized manipulator are researched in this paper. The EOD robot in this paper contains three kinds of control modes: single-axis movement, multi-axis movement with the attitude adjustment, multi-axis movement in a straight line. The real-time control software for the lower machine is designed in this paper. In the WINCE platform, the functions such as data communications, the underlying position control, wireless network communication and so on are realized through Embedded Visual C++. The validity and reliability of the control system are verified by experiment. With the poor telepresence of the mobile carrier walking in the narrow space and its inadequate operation performance, in this paper, a intelligent moving support system based on radar which makes mobile carrier walk independently without collision with the only help of the commands from operator such as forward, backward, turning and so on is designed. Because the EOD robot takes lots of task and its energy is limited, in the paper, a research for minimizing energy consumption is studied, and it combines co-simulation of ADAMS and MATLAB with pattern search method which is proved effective through computer simulation.By experiments, the lower control system and intelligent auxiliary system of the EOD robot designed in the paper can complete EOD task effectively and reliably and improve the scope of application and intelligence level of the EOD operation, which meets the design requirements.更多还原