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设计并制作一款用于城市中地下道的勘测和垃圾清理的机器人。该机器人以STM32单片机为主控芯片,用英伟达工控机进行视频传输。PC端与主控系统组成远程控制系统,PC端与4G模块通过TCP协议广域网连接,4G模块接收信息再通过串口发送到主控系统上。PC端与英伟达工控机组成远程监控系统,PC端通过TCP/IP协议局域网与英伟达工控机连接,英伟达工控机采集视频通过局域网发送给PC端,PC端接收图像并通过窗口实时显示。还基于PyQt开发了一款把远程控制和远程视频监控集成一体的上位机软件,通过上位机软件可以方便用户操作和使用机器人。经过调试,PC端与机器人成功建立通信并可以实时传回视频画面,机械臂成功实现夹取功能。能完成勘测和清理地下道的任务。 相似文献
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齐付普 《机电产品开发与创新》2020,33(3):15-18
针对水下、航空、手术及救援抢险等特殊环境下,需要人参与实现机器人的工作的情况,设计力反馈遥操作策略,以力反馈设备到机器人的映射位置为输入,实现机器人的阻抗控制,并使用机器人的动力学辨识系统,补偿机器人末端执行工具本身带来的重力影响及力作用点转换。结合机器人控制器内的实时外部引导技术,使用力反馈设备及机器人系统搭建实验平台。实验结果表明,本文提出的系统可实现2ms级别的机器人实时力反馈遥操作,在设定并根据负载辨识动力空间及速度限制范围内安全有效的实现学补偿消除负载重力带来的力反馈影响。 相似文献
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本文通过对疲劳试验中应变测量设备,采集控制设备中力反馈数据的基本原理及实现方式进行分析,详细阐明影响控制设备采集到的力反馈数据与应变测量设备采集到的控制设备中力反馈数据间同步性的因素,设计虚拟试验对同步性进行验证。结果表明,应变测量设备能够从控制设备中采集力反馈数据,并且采集到的力反馈数据滞后于控制设备采集到的力反馈数据,在给定试验条件下,滞后不大于135ms,满足试验要求。 相似文献
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为了提高核设施日常运行维护的效率,同时降低工作人员的受辐射剂量,针对CAP1400核电厂示范工程项目的任务需求,重点考虑核电厂堆外核测探测器安装过程中探测器与仪器井的轴孔柔顺装配问题,提出一种基于人机合作的核运维机器人轴孔装配方法。根据核运维机器人在核电厂环境中的运行特点,将轴孔装配任务分为搜索阶段和插入阶段。在搜索阶段搭建主从机械臂遥操作控制系统,将销钉放置在孔的中心位置。在插入阶段基于深度强化学习算法模型,以从端机械臂末端的力反馈和销钉位姿两种信息为依据构建马尔科夫决策过程,通过训练得到从端机械臂当前状态与动作的映射关系从而获取最优控制策略,依据力反馈信息实时调整销钉的位置和方向,控制销钉插入孔中。最后通过在真实场景中搭建的主从异构遥操作系统以及在仿真环境webots中建立的简化轴孔装配仿真验证了上述方法的可行性。 相似文献
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Wall-following control problem for a mobile robot is to move it along a wall at a constant speed and keep a specified distance
to the wall.This paper proposes wall-following controllers based on Lyapunov function candidate for a two-wheeled mobile robot (MR) to
follow an unknown wall. The mobile robot is considered in terms of kinematic model in Cartesian coordinate system. Two wall-following feedback controllers
are designed: full state feedback controller and observer-based controller. To design the former controller, the errors of
distance and orientation of the mobile robot to the wall are defined, and the feedback controller based on Lyapunov function
candidate is designed to guarantee that the errors converge to zero asymptotically. The latter controller is designed based
on Busawon’s observer as only the distance error is measured. Additionally, the simulation and experimental results are included
to illustrate the effectiveness of the proposed controllers. 相似文献
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以基于麦克纳姆轮的全向移动机器人为研究对象,首先对基于标记点的光学动作捕捉系统的定位原理进行研究,然后对移动机器人的驱动原理和位姿误差进行分析,建立运动学模型和位姿误差模型,通过反演法设计虚拟反馈,并结合李雅普诺夫函数构造出具有全局渐近稳定的轨迹跟踪控制器。接着对测试环境和试验样机进行搭建,将光学动作捕捉系统采集的位姿信息反馈到机器人的控制回路中,最后对直线和圆周轨迹进行跟踪仿真。通过在试验样机上实验验证,总结出利用光学动作捕捉系统对移动机器人采集的定位信息,可令移动机器人拥有良好的轨迹跟踪性能。 相似文献
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针对一种配有单目相机的足式移动机器人,提出一种基于图像单应性的混合视觉伺服方法,利用单应性矩阵中的元素构造状态变量估计估计机器人相对位姿,使机器人在缺乏深度信息的情况下可准确到达目标位姿。相较于轮式移动机器人,在足式机器人移动过程中,足式机构的间歇性运动直接影响机器人视觉反馈过程和伺服控制系统的准确性和稳定性。为解决这一问题,通过分析足式机构运动学并建立足式机器人移动速度与电机转速的映射关系,使控制器可以更准确地调整机器人运动速度。考虑到足式机构运动对视觉反馈环节的影响,提出一种改进型自适应中值滤波算法提高位姿估计精度。伺服环节设计了滑模控制器,并采用李雅普诺夫方法证明了控制系统的稳定性。最后,利用CoppeliaSim软件搭建足式移动机器人虚拟模型,通过仿真验证了所提出控制方案的可行性与有效性。 相似文献
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A haptic device is proposed which gives the user feedback information on their location and orientation of the obstacle through the mobile robot that detects the obstacle in an environment where the user cannot see.Mobile robot recognizes the exact position of the obstacle through configuring the nested ultrasonic sensor and giving feedback information to the haptic device.The haptic device consisting of five vibration motors can realize the haptic through the vibration of user's finger using the position information of the obstacle received feedback.In addition,it has high accuracy to recognize the surrounding environment and realizes the various situations with the fuzzy controller and the nested ultrasonic sensors. 相似文献
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Most RF beacons-based mobile robot navigation techniques rely on approximating line-of-sight (LOS) distances between the beacons and the robot. This is mostly performed using the robot's received signal strength (RSS) measurements from the beacons. However, accurate mapping between the RSS measurements and the LOS distance is almost impossible to achieve in reverberant environments. This paper presents a partially-observed feedback controller for a wheeled mobile robot where the feedback signal is in the form of noisy RSS measurements emitted from radio frequency identification (RFID) tags. The proposed controller requires neither an accurate mapping between the LOS distance and the RSS measurements, nor the linearization of the robot model. The controller performance is demonstrated through numerical simulations and real-time experiments. 相似文献
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根据机器人的运动学模型,对具有非完整特性的移动机器人轨迹跟踪控制进行了研究.采用基于积分backstepping时变状态反馈方法,引入一种新的虚拟反馈量,设计机器人轨迹跟踪控制算法,并且利用Lyapunov方法证明系统的全局稳定性.仿真结果证明了该方法的有效性. 相似文献
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分析了磨削机械手的运动约束,建立了有约束动力学模型,提出了一种不用力反馈传感器的新型力/位置混合控制方案,并通过仿真验证了该方案的有效性。 相似文献
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Robot force control is an essential issue in robotic intelligence. There is much high uncertainty when robot end-effector contacts with the environment. Because of the environment stiffness effects on the system of the robot end-effector contact with environment, the adaptive generalized predictive control algorithm based on quantitative feedback theory is designed for robot end-point contact force system. The controller of the internal loop is designed on the foundation of QFT to control the uncertainty of the system. An adaptive GPC algorithm is used to design external loop controller to improve the performance and the robustness of the system. Two closed loops used in the design approach realize the system?s performance and improve the robustness. The simulation results show that the algorithm of the robot end-effector contacting force control system is effective. 相似文献