装箱机器人控制系统开发

发布时间：2018-01-23 02:47

本文关键词： 开放式四元数控制系统装箱　出处：《江南大学》2015年硕士论文　论文类型：学位论文

【摘要】：机器人作为一种先进的制造装备,已经被广泛应用于各个行业。在机器人的研发与设计过程中,机器人控制系统的研究与开发一直是人们探讨的热点之一。作为工业机器人的一种,包装机器人在包装行业的应用非常广泛,主要包括装箱机器人,搬运机器人,码垛机器人,装袋机器人,灌装机器人等。包装机器人的广泛应用大幅降低人力资源的消耗,而且在恶劣环境中,能够降低操作安全风险,同时,提高包装的质量与操作稳定性,从而提高效率。本文选择五自由度机器人作为装箱机器人研究对象,开发了基于运动控制器的机器人控制系统,最终将其应用于FANUC LR MATE100i五自由度机器人上,并实现了对其的控制。主要研究内容如下:首先,本文为实现对食品,香烟,药品等轻质量物件的装箱操作,分析现有不同自由度机器人各自的用途与特点,选择五自由度机器人作为装箱机器人研究对象,设计开放式控制系统总体方案,选用GUC-T系列的运动控制器进行系统运动学计算及轨迹规划,采用CDHD系列的伺服驱动器驱动电机,在此基础上,为装箱机器人控制系统设计控制柜外形尺寸及总电路图。随后,对装箱机器人进行了运动学分析,运用D-H法则建立了机器人运动学模型,并对机器人运动学正反解进行了求解。在此基础上,对机器人笛卡尔空间的轨迹规划进行研究,实现了机器人笛卡尔空间的空间直线插补运动及空间圆弧插补运动。针对欧拉角姿态表示方式存在奇异性以及姿态过渡不平稳的问题,采用四元数表示机器人姿态,并提出机器人姿态四元数直接逆解的方法,舍去姿态四元数需转化为姿态矩阵的过程,简化计算过程,提高了程序的运行效率,并验证了算法的正确性。然后,运用运动控制器提供的Otostudio软件开发工具为五自由度机器人控制系统开发软件,将软件分为初始化模块、示教模块、再现模块、运动控制模块、信息反馈模块、文件管理模块六大模块及图形化人机交互界面,实现了各模块所需完成的功能,同时,为控制系统软件设计了人机交互界面。最后,将机器人控制系统运用于FANUC LR MATE 100i五自由度机器人上,实现了对机器人的控制,并运用FARO激光跟踪仪采用几何方法对机器人进行角度测量,得出机器人各关节转动一圈所发脉冲的数目,并加以修正,最终实现了FANUC机器人在笛卡尔空间的直线运动及空间圆弧运动,并成功完成物流线上小包装件的装箱操作。
[Abstract]:As an advanced manufacturing equipment, robot has been widely used in various industries, in the development and design of robots. The research and development of robot control system has been one of the hot topics. As a kind of industrial robot, packaging robot is widely used in packaging industry, including packing robot. Handling robot, palletizing robot, bagging robot, filling robot and so on. The extensive application of packaging robot greatly reduces the human resource consumption, and in the bad environment, can reduce the operation safety risk, at the same time. In order to improve the quality and operation stability of packaging and improve efficiency, a robot control system based on motion controller is developed in this paper. Finally, it is applied to FANUC LR MATE100i five-degree-of-freedom robot, and its control is realized. The main research contents are as follows: firstly, this paper aims to realize the realization of food and cigarette. The paper analyzes the use and characteristics of the existing robots with different degrees of freedom, selects the five-degree-of-freedom robot as the research object of the packing robot, and designs the general scheme of the open control system. The motion controller of GUC-T series is used to calculate the system kinematics and trajectory planning, and the servo driver of CDHD series is used to drive the motor. Then, the kinematics analysis of the boxed robot is carried out, and the kinematics model of the robot is established by using D-H rule. On the basis of this, the trajectory planning of the robot in Cartesian space is studied. The motion of space linear interpolation and space arc interpolation of robot in Cartesian space is realized, and the singularity and unsteady attitude transition of Euler angle attitude are discussed. The quaternion is used to express the attitude of the robot, and the method of direct inverse solution of the quaternion of the robot attitude is proposed. The process of converting the quaternion of the attitude to the attitude matrix is proposed, which simplifies the calculation process and improves the running efficiency of the program. And verify the correctness of the algorithm. Then, using the motion controller provided by the Otostudio software development tools for the five-degree-of-freedom robot control system development software, the software is divided into initialization module. Teaching module, reproduction module, motion control module, information feedback module, file management module six modules and graphical man-machine interface, achieve the required functions of each module, at the same time. The human-computer interface is designed for the control system software. Finally, the robot control system is applied to FANUC LR MATE 100i five-degree-of-freedom robot to realize the control of the robot. The FARO laser tracker is used to measure the angle of the robot, and the number of pulses produced by the rotation of each joint of the robot is obtained and corrected. Finally, the linear motion and circular arc movement of FANUC robot in Cartesian space are realized, and the packing operation of small package on the logistics line is successfully completed.
【学位授予单位】：江南大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TP242

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