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1、中南大學(xué)碩士學(xué)位論文基于WindowsCE的挖掘機(jī)器人軌跡規(guī)劃研究姓名:李淵博申請學(xué)位級別:碩士專業(yè):機(jī)械電子工程指導(dǎo)教師:何清華20060401ABSTRACTResearchonintelligentandroboticexcavatorhasbecomeahotspothomeandabroad,andthistypeofexcavatorisshowingitsadvantagesinapplication.Underthisbackgroundandcombiningthenational863project,thethesisdoessomepracti
2、calresearchonpathplanningofroboticexcavatorbasedonembeddedsystem.ThesiscomparedseveralembeddedsystemsincludingLinux,WindowsCEandVxWorksconcerningtheperformanceofreal.time,reliability,developmentefficiency,GUIandcosts.AtlastWindowsCEandCANhavebeenchoosentobetheplatformofpathplanning.The
3、sisdidlotsofworkonestablishingthekinematicanddynamicmodels.AfterthatthetransfomequationsamongCartesiancoordinate,jointcoordinateanddrivencoordinatehavebeenobtained.AndalSOthecylindervelocityandaccelerationhavebeenSOIvedwithiacobianmatrix.Furthermore,thethesissolvedthetorquesofiointsand
4、theforcesofcylinders.ForwardkinematicsofsomenewtypesofexcavatorlikearlnorboomdeflexionisSOlved,too.Thenthethesisdidthepathplanningofordinaryexcavatoronthebaseofkinematics.Toavoidimpact。thetrajectoryisdevidedintothreesects:acceleration,uniformspeedanddeceleration.AnADAMSmodelhasbeenesta
5、blishedtosimulatetheplanningandverifytheequations.SoftwarecodedaboveWindowsCEwithEmbeddedViSUalC-H-hasbeentested.ItnotonlyrealizeddynamicsimulationlikeADAMSbutalSOconnectedwiththecontrollerthroughCANbus.Byutilizingtheangulardatathesoftwarehasabilitytoguideexcavatoroperationwithdynamicg
6、raphiCS.ThesisalSOtestedthecosttimeofkeycodeslikekinematicsanddynamicscomputing,andoptimizedthem.AtlasttrajectorytrackingexperimenthasbeendonewitIldistalPIDalgorithmimplementedincontrollerandaresultofbelow50mmhasbeenobtained.KEYWORDSWmdowsCE,embeddedsystem,roboticexcavator,pathplanning
7、,kinematics,dynamicsⅡ原創(chuàng)性聲明本人聲明,所呈交的學(xué)位論文足本人在導(dǎo)師指導(dǎo)下進(jìn)行的研究工作及取得的研究成果。盡我所知,除了論文中特別加以標(biāo)注和致謝的地方外,論文中不包含其他人已經(jīng)發(fā)表或撰寫過的研究成果,也不包含為獲得中南大學(xué)或其他單位的學(xué)位或證書而使用過的材料。與我共同工作的同志對本研究所作的貢獻(xiàn)均已在在論文中作了明確的說明。作者簽名:奎翻擅日期:2QQ魚年一月一日關(guān)于學(xué)位論文使用授權(quán)說明本人了解中南大學(xué)有關(guān)保留、使用學(xué)位論文的規(guī)定,即:學(xué)校有權(quán)保留學(xué)位論文,允許學(xué)位論文被查閱和借閱;學(xué)校可以公布學(xué)位論文的全部或部分內(nèi)容,可以采用復(fù)印、縮印或