复指数变换法在工业机器人轨迹规划中的应用研究

【作者】 孙晋永；

【导师】 阎树田；

【作者基本信息】 兰州理工大学 ， 机械制造及自动化， 2003， 硕士

【摘要】 针对目前在工业机器人的执行机构运动研究中，缺少高效的分析方法的现状，本文提出了一种新方法——三维矢量的复指数形式并探讨了应用该法表示三维矢量的坐标变换形式及其导数形式。实例证明它能够简化工业机器人的执行机构运动分析的坐标变换过程。对于其数值解，可以利用计算机方便求得。进而，可以利用它更方便地对工业机器人进行轨迹规划。 首先，本论文介绍了工业机器人及其发展、应用概况、分类及组成。然后，提出了三维矢量的复指数形式，并探讨了其基本的坐标变换形式，即复指数变换法及其导数形式以便于进一步的分析。其次，对于给定的工业机器人实例，建立起适当的参考、运动坐标系，对比应用了坐标矩阵变换法和复指数变换法，来分析工业机器人执行机构的运动问题。由求解过程可以看出，复指数变换法是一种解决此类问题的有效的、直观的方法。最后，对于结构给定而构件尺度未定的工业机器人执行机构，先根据机构尺度优化目标，建立数学模型、用复合形法进行构件尺度优化；再根据给定的期望轨迹和规划目标，建立数学模型，利用复指数变换法对执行机构进行运动分析的结果，采用进化算法对工业机器人进行轨迹规划。接着，用优化参数进行计算机仿真，评价仿真结果。这些优化参数可作为实际工业机器人执行机构设计和机器人控制的理论依据。更多还原

【Abstract】 Aimed at the situation lack of efficient analysis tool in the study of the industrial robots’ executor motion, a new method, the complex index form of the 3 dimensional vectors, is put forward. The way of coordinate transformation and the derivative are also explored while expressing vectors by using this method.when it being used in several examples, the motion analysis of the industrial robots’ executor can be simplified. Numerical solution can also be got with computer. Consequently, trajectory planning for the industrial robots’executor can simply be implemented in this way.Firstly, this paper introduces industrial robots, their development, their engineering application, their category and their composing in broad outline. Secondly, the basic concept of the complex index form of the 3 dimensional vectors and the way of coordinate transformation, the complex index form transformation, are discussed. In order to simplify the further analysis, the derivative of this form is also put forward. Thirdly, the coordinate matrix transformation that is popularly used and the complex index form transformation are applied to the living examples of industrial robots respectively with the proper referent and motive coordinate systems. While two solutions being contrasted, it is shown that the complex index form transformation presented by the paper is an intuition!stic and convenient tool to analyze the industrial robots’ executor motion. Finally, for the definite mechanism and indefinite size of industrial robots’executor as well as the size^optimization goal, the mathematic model is set up to optimize the executor’size with using complex optimization method. Next, for the optimized executor, the desired trajectory and planning goal, the kinematics model and proper referent and motive coordinates systems are set up. By making use of the result of the previous motion analysis, genetic algorithm is applied to the trajectory planning of executor. Next, the practical trajectory is simulated with the optimized parameters. Then the simulated result is also evaluated with the planning goal. The practical mechanism design and motion control of industrial robots can be carried out according to the optimized parameters.更多还原