喷涂机器人逆运动学求解算法与仿真软件

发布时间：2018-01-22 10:09

本文关键词： 喷涂机器人逆运动学阻尼最小二乘法消元法机器人仿真　出处：《华中科技大学》2013年硕士论文　论文类型：学位论文

【摘要】：制造业尤其是汽车行业的迅速发展对喷涂机器人的需求越来越强烈，研发具有自主知识产权的国产化喷涂机器人成套装备，已成为我国工业发展的迫切需要。在机器人的设计开发及性能优化中，机器人运动学、动力学分析与仿真是一项基础的工作。具有空心手腕结构的喷涂机器人后三个关节轴偏置，其逆运动学一般不存在封闭解。建立机器人逆运动学有效求解模型，是喷涂机器人开发的基本问题。本文针对所研制的喷涂机器人，采用连杆坐标系的D-H建模方法，推导了喷涂机器人的运动学模型。采用蒙特卡罗仿真方法，分析了喷涂机器人的工作空间，根据国家标准对工作空间进行了规范表达。推导了喷涂机器人的雅克比矩阵及其行列式，，并研究了机器人的灵巧性指标，提出了第二条件数的概念，实现了机器人的奇异性分析。采用牛顿-欧拉递推方法推导了机器人的动力学模型，实现了机器人笛卡尔空间的轨迹规划，分别为直线规划和圆弧规划。本文重点研究了喷涂机器人逆运动学的求解方法，主要包括迭代法和消元法。通过对奇异位置的特殊处理和阻尼因子的自适应调整，改进了阻尼最小二乘DLS法；在Manocha消元法的基础上，通过矩阵拆分和符号运算预处理等技术，提高了消元法的性能，实现了算法的实时性。逆运动学算法在实际应用中取得了良好的效果。最后，对机器人的运动学、动力学、轨迹规划等知识进行了整合，根据软件设计的基本思想和技术手段，结合大型仿真软件的功能架构，采用C++为编程语言，MFC搭建软件主框架，开发了机器人仿真软件，为喷涂机器人设计与性能分析提供了一个仿真平台。
[Abstract]:With the rapid development of the manufacturing industry, especially the automobile industry, the demand for spray robot is more and more strong. Robot kinematics has become an urgent need of industrial development in China. In the design, development and performance optimization of robots, robot kinematics. Dynamic analysis and simulation is a basic work. The inverse kinematics of the sprayed robot with hollow wrist structure is usually not closed when the rear three joint axes are biased. The effective solution model of robot inverse kinematics is established. It is the basic problem of spray robot development. In this paper, the kinematics model of spray robot is derived by D-H modeling method of connecting rod coordinate system, and Monte Carlo simulation method is used. The workspace of spraying robot is analyzed, and the workspace is expressed according to the national standard. The Jacobian matrix and its determinant are derived, and the dexterity index of the robot is studied. In this paper, the concept of the second part number is proposed, and the singularity analysis of the robot is realized. The dynamic model of the robot is derived by using Newton-Euler recursive method, and the trajectory planning of the robot in Cartesian space is realized. Linear programming and arc programming are respectively. In this paper, the inverse kinematics method of spray robot is studied, including iterative method and elimination method, through special processing of singular position and adaptive adjustment of damping factor. The damped least square DLS method is improved. Based on the Manocha elimination method, the performance of the elimination method is improved by matrix splitting and symbol preprocessing. The inverse kinematics algorithm has achieved good results in practical application. Finally, the robot kinematics, dynamics, trajectory planning and other knowledge integration, according to the basic idea of software design and technical means, combined with the functional framework of large-scale simulation software. The main frame of the software is built with C # as the programming language MFC, and the robot simulation software is developed, which provides a simulation platform for the design and performance analysis of the spraying robot.
【学位授予单位】：华中科技大学
【学位级别】：硕士
【学位授予年份】：2013
【分类号】：TP242

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