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Mechanism Design of Robonaut Head and Research on Its Object Tracing Control Method

Author: YangYang
Tutor: LiuHong
School: Harbin Institute of Technology
Course: Mechanical and Electronic Engineering
Keywords: Robot astronauts head Trajectory planning Integral sliding mode control Target tracking
CLC: TP242
Type: Master's thesis
Year: 2011
Downloads: 51
Quote: 0
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Abstract


Robot astronaut is a combination of robotics and aerospace technology, is one of the important development direction of the future of space technology, it will replace humans into space to perform a variety of maintenance tasks. This article from the Harbin Institute of Technology robotics system National Key Laboratory of independent project \Active Vision. Firstly, according to the intended operation tasks given design specifications and design criteria, and focuses on the structure of the mechanical system, especially through adjust aspects of the design to reduce the gap differential transmission structure, and to make the transmission more smoothly, end positioning is more accurate . A brief introduction to the electrical system and visual system and the integration of mechanical systems. Developed robot astronauts head weighing about 1.2kg, volume similar to the human head with three degrees of freedom can be achieved pitch side of the pendulum and rotary motion. In this paper, a system based on the completion of the mechanical structure design, forward kinematics, combined with the visual information to determine the spatial location of the target, and there is an obstacle and accessibility are two cases classified given only analytical solution of inverse kinematics expression . Learn from Paul planning ideas quartic polynomial - linear planning method, it makes the implementing agencies to take full advantage of the performance of the speed of the previous planning cycle, each plan node can accurately reach the desired position, the tracking process continuity and stability. Uncertainty for system modeling inaccuracies and moving targets, the article describes the integral sliding mode control algorithm, this method has the characteristics of high accuracy and strong robustness. The proportion suppress chattering sliding mode control switching function method, analyzed the impact of the parameters for tracking accuracy and buffeting. MATLAB / Simulink simulation results show that this method can effectively weaken the chattering of the sliding mode motion, and verify that the parameters selected results provide the basis for the whole of the experimental parameters given. Finally, experimental platform for a joint position paper developed a robot astronaut three degrees of freedom head control experiments and target tracking experiment. The experimental verification of the validity of this paper, trajectory planning and dynamic control method. Using the the binocular center of the target, based on the position servo tracking control strategy, the tracking of the head of the operating space within a certain speed random movement of table tennis.

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
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