工业机器人插补算法及标定技术研究

发布时间：2018-04-20 10:25

本文选题：运动学 + 标定　；参考：《江西理工大学》2017年硕士论文

【摘要】：工业机器人是《中国制造2025》重点领域之一,而工业机器人控制系统是机器人核心技术之一。目前,工业机器人控制系统的研发和生产基本被日本和德国垄断,随着国产工业机器人的高速发展,研发具有自主知识产权的控制系统已成为关键。运动插补算法是机器人控制系统的重要基础功能之一,直接反映着机器人运动速度和加工效率。对于运动路径中速度方向变化大的点,高速通过会导致机器人产生震动和冲击,严重影响着机器人的加工质量,低速通过则会影响加工效率。速度规划的核心是在机器人加减速性能约束条件下,尽可能提高进给速度。本文提出连续微小直线段插补和样条曲线插补,综合考虑了机器人的性能约束,实现了运动平稳高速,提高了加工效率。论文主要工作如下:以HYHJ-602型通用六轴焊接机器人为研究对象,采用D-H参数建模法,分析处理了机器人运动学正向和反向问题,成功求取了机器人逆解和速度雅克比矩阵,为后文运动插补算法打下基础。以艾利特ERC-G200型控制器为研究对象,基于目前工业机器人重复定位精度过差导致离线编程难以实现的问题,提出了一种微分运动模型标定方法,成功提高了机器人的重复定位精度,为下文连续微小直线段插补算法的实现打下了基础。针对离线编程CAM软件生成的大量微小直线段转接角过大导致速度过低的问题,提出一种基于关节突跳速度的相邻直线段高速转接的速度前瞻插补算法,该法能兼顾关节空间速度约束和笛卡尔空间约束,充分利用了电机的加减速能力,保证了机器人通过直线衔接点时平稳、高速。针对目前机器人以规则的关节插补、直线插补、圆弧插补为主要插补方法,无法加工复杂路径的问题,提出一种基于B样条的插值曲线,并在此曲线的基础上,综合考虑了弓高误差、法向加速度、切向速度、切向加速度、切向加加速度约束的速度自适应前瞻插补算法。该插值曲线仅需几个特征示教点即可表征所需加工的路径,极大地降低了操作人员的示教难度。该插补算法能保证生成轨迹完全经过所给示教点,轮廓误差小,以机器人加减速约束下的最大速度平稳地经过曲率极大值点处,且机器人无震荡、无冲击。
[Abstract]:Industrial robot is one of the key fields of "made in China 2025", and industrial robot control system is one of the core technology of robot. At present, the R & D and production of industrial robot control system is basically monopolized by Japan and Germany. With the rapid development of domestic industrial robot, the research and development of control system with independent intellectual property has become the key. Motion interpolation algorithm is one of the important basic functions of robot control system, which directly reflects the motion speed and machining efficiency of the robot. For the points in the path of motion where the direction of velocity changes greatly, the high speed passing will lead to the vibration and impact of the robot, which will seriously affect the machining quality of the robot, and the low speed will affect the processing efficiency. The core of speed planning is to improve the feed speed as much as possible under the constraint of robot acceleration and deceleration performance. In this paper, continuous small straight line segment interpolation and spline curve interpolation are proposed, which take into account the performance constraints of the robot, realize smooth motion and high speed, and improve the processing efficiency. The main work of this paper is as follows: taking the HYHJ-602 universal six-axis welding robot as the research object, using D-H parameter modeling method, the forward and reverse kinematics problems of the robot are analyzed and dealt with, and the inverse solution of the robot and the velocity Jacobian matrix are obtained successfully. It lays the foundation for the motion interpolation algorithm. Taking Allitt ERC-G200 controller as the research object, a differential motion model calibration method is proposed based on the problem that the repeated positioning accuracy of industrial robot is too poor and it is difficult to realize off-line programming. It improves the precision of the robot and lays a foundation for the realization of the interpolation algorithm of the continuous small straight line segment. In order to solve the problem that a large number of small straight line segments generated by off-line programming CAM software lead to too low speed, a forward interpolation algorithm for high speed forward interpolation of adjacent straight line segments based on joint jump speed is proposed. This method can take account of the speed constraint of joint space and Cartesian space constraint, make full use of the acceleration and deceleration ability of the motor, and ensure the stability and high speed of the robot passing through the straight line junction point. Aiming at the problem that the robot is unable to process complex paths with regular joint interpolation, straight line interpolation and arc interpolation as the main interpolation methods, a interpolation curve based on B-spline is proposed and based on the interpolation curve. An adaptive forward interpolation algorithm with bow height error, normal acceleration, tangential velocity, tangential acceleration, tangential acceleration and tangential acceleration is presented. The interpolation curve needs only a few characteristic teaching points to characterize the required processing path, which greatly reduces the difficulty of the operator in teaching. The interpolation algorithm can ensure that the trajectory can be generated completely through the teaching points given, the contour error is small, the maximum velocity of the robot under acceleration and deceleration constraints can smoothly pass through the maximum curvature point, and the robot has no concussion and no impact.
【学位授予单位】：江西理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242.2

【参考文献】