9DOF全方位移动机械臂运动学及其控制系统研究

Kinematics and control system of 9DOF omni-directional mobile manipulators

为了快速并精确地求解一类冗余移动机械臂的优化逆解，提出了一种将关节局部优化法、解析法和遗传信赖域优化搜索算法相结合的冗余机器人运动学求逆方法。该方法首先利用关节等效法和局部优化法将优化算法需要求解的运动关节变量减少，然后使用解析法把机械臂的剩余关节变量用移动平台的运动参变量表示，引入关节最佳柔顺性准则构造只包含移动车运动参变量的目标函数，最后用优化算法求解此目标函数的最优化问题实现逆运动学求解。设计了机器人的控制系统，包括分层伺服控制结构设计、控制系统硬件结构设计以及差动轮转向与滚动解耦控制和多圈绝对式编码器信号增量化处理的设计。实验表明此求逆方法能够快速精确地求出优化逆解，此控制系统运行稳定。

To get optimization inverse kinematics solutions for a class of redundant mobile manipulators quickly and accurately, an inverse kinematics method based on the joint partial optimization method, the analytical method and the genetic trust region algorithm was proposed. The method decreases the joint movement parameters to be solved by applying the equivalent joint method and the partial optimization method, then, uses the analytical method to express the manipulators＇ remaining joint movement parameters with the mobile vehicle＇ s movement parameters, and introduces the best flexibility principle to build the objective function which only contains the parameters of mobile vehicles, and finally, solves the optimization problem of the objective function by the genetic trust region algorithm to get the inverse kinematics solutions of the mobile manipulator. The control system of the robots was designed. The work included the designs of the hierarchical structure of servo-control, the control system＇s hardware structure, the differential wheel rotating and tumbling decoupiing control, and the multi-turn absolute encoder signal incremental processing. The experimental results show the inverse kinematics method can quickly obtain accurate and optimization inverse solutions, and the control system is stability.