文档介绍：河北工业大学硕士学位论文
移动机械手运动学分析及仿真
摘要
移动机械手(Mobile Manipulator)系统是由一个或若干个机械手固定在移动平台上
构成,具有工作空间大、运动冗余度高等优点,在实现危险环境、极端环境作业方面具有
广泛的应用前景。本文在国家 863 项目“危险化学反应器泄漏检测与修补移动机械手系统”
(2003AA421040)的支持下,以美国 ActivMedia Robotics 公司生产的 Pioneer 3-AT 型
移动机器人和本实验室自主研制的五自由度机械手为研究对象,对移动机械手运动学解耦
和五自由度机械手仿真进行了研究,主要研究内容如下:
首先,用 D-H 法建立了五自由度机械手运动学模型,求解机械手运动学正问题和逆问
题并分析了机械手的关节速度与雅可比矩阵;在分析完整约束与非完整约束的基础上,建
立了移动平台的运动学约束模型,并用微分法得到了移动平台的离散模型。
其次,讨论曲线几何学和路径的参数表示方法,对五自由度机械手进行了连续路径操
作轨迹规划,实现末端执行器在笛卡尔空间内的匀速运动,用 MAPLE 软件计算出机械手运
动学逆解,给出了各关节转角、速度和加速度曲线。
最后,利用 MATLAB 软件擅长数值计算、能处理大量的数据、绘图功能强的特点,编
制了五自由度机械手的运动学分析计算及动画仿真程序,可以对不同结构参数的五自由度
机械手模型进行运动分析及仿真,同时程序还实现了运动模型的三维可视化,为机械手的
结构设置和轨迹规划提供可靠依据。
关键词:移动机械手,非完整约束,运动学模型,轨迹规划仿真
I
移动机械手运动学分析及仿真
Kinematics Analysis and Simulation of
Mobile Manipulator
ABSTRACT
Mobile manipulator system posed of a mobile platform and one or several
manipulators which has a brand new future in working in the danger and extreme circumstance
for its wildly workplace and redundant degree of freedom. Supported by Hi-tech Research and
Development Program of China (No. 2003AA421040), this paper made a research on the
Pioneer 3-AT mobile robot made by ActivMedia pany of USA and the five DOF
manipulator developed by our lab, build up the kinematics model and planed the continuous path
operations of the five DOF manipulator. What followed are the main contents:
Firstly, build the kinematics model of the five DOF manipulator with D-H notation, solved
the direct kinematics problem and inverse kinematics problem analyzed the speed of joint and
Jacobin matrix. The kinematics constraint model of nonholonomic constraint platform is given
based on the analysis of holonomic constraint and nonholonomic constraint and the discrete
model is built using the method of differential.
Secondly, discussed the geometry of curve and parametric representation, planed the
continuous operation path of the five