双臂搬运机器人反应式导航控制系统设计

Design of Reactive Navigation Control System for Dual-arm Handling Robot

摘要:

为增强双臂搬运机器人在作业任务过程中的行进避障能力，使其运动行为得到连续有效控制，设计双臂搬运机器人的反应式导航控制系统。根据单片机与电机电路的连接形式，选择合适的ARM微处理器元件与PIC单片机结构，再联合HN-9移动平台、智能导航平台、ROS操作平台，完善反应式导航子模块的运行能力，实现控制系统的硬件单元设计。求取绝对位姿向量、相对位姿向量的计算结果，以此作为自变量系数，确定速度雅可比指标，并推断得出动力学递推表达式，完成对双臂搬运机器人的协调控制，联合相关硬件应用结构，实现双臂搬运机器人反应式导航控制系统的设计。对比实验结果：反应式导航控制系统可使机器人准确躲避行进障碍物，且躲避过程中机器人完成作业任务的能力不会受到影响，符合连续有效控制机器人搬运行为的实际应用需求。

Abstract:

In order to enhance the obstacle avoidance ability of double arm handling robot in the process of operation task and make its motion behavior continuously and effectively controlled, a reactive navigation control system of double arm handling robot is designed. According to the connection form of single chip microcomputer and motor circuit, select the appropriate ARM microprocessor element and PIC single chip microcomputer structure, and then combine hn-9 mobile platform, intelligent navigation platform and ROS operation platform to improve the operation ability of reactive navigation sub module and realize the hardware unit design of control system. The calculation results of absolute pose vector and relative pose vector are obtained, which are used as independent variable coefficients to determine the velocity Jacobian index, and deduce the dynamic recursive expression to complete the coordinated control of double arm handling robot. Combined with the relevant hardware application structure, the design of reactive navigation control system of double arm handling robot is realized. Comparative experimental results: the reactive navigation control system can make the robot accurately avoid the moving obstacles, and the ability of the robot to complete the task will not be affected in the process of avoidance, which meets the practical application requirements of continuously and effectively controlling the robot's handling behavior.