SCARA型多轴工业机器人控制技术研究

发布时间：2018-01-08 06:24

本文关键词：SCARA型多轴工业机器人控制技术研究　出处：《山东大学》2017年硕士论文　论文类型：学位论文

【摘要】：SCARA型机器人是工业机器人中应用最广泛的类型之一,传统的SCARA机器人结构特点是旋转关节的轴线平行,特殊的结构使它的控制系统的设计尤其简单,被广泛应用与搬运、贴片等场合,结构轻便,速度较快,当用于焊接时,直接加持焊枪控制的情况下没法保证对焊枪的姿态控制,因此提出增加另外一个姿态轴与变位机进行协调轨迹控制,保证焊接质量。机器人控制系统机器人的重要组成部分,用于实现机器人运动和轨迹控制,实现预定的任务。该课题是使用德国3S公司的CODESYS软件开发SCARA型多轴工业机器人控制系统,并使用WPF开发机器人上位机使用界面。主要的研究内容如下:第一部分是SCARA型多轴焊接机器人运动学分析,包括空间描述与变换,建立D-H坐标系,进行了机器人正逆运动学的计算,并讨论多重解的选择,以及在机构的奇异位型处的解的选择。第二部分研究SCARA型多轴焊接机器人系统中坐标系关系,建立垂直正交的管管相贯曲线的数学模型并进行MATLAB仿真,研究了机器人与变位机进行协调控制的算法,包括末端工具的姿态控制、机器人位姿的控制、变位机的旋转过程中焊缝点的位置与姿态变化矩阵。第三部分基于CODESYS开发平台进行SCARA型多轴机器人控制系统的设计。包括:轴参数配置、主从站设置、视图管理、点动控制设计、示教控制设计、速度与路径规划设计等,搭建了硬件平台。第四部分建立SCARA型多轴焊接机器人的仿真模型,通过OPC通讯实时传输轴位置进行状态控制。并且在上位机中进行不同工具的模块化仿真设计,模拟不同的现场,可进行工具切换和功能块切换,实现不同的功能。最后一部分是SCARA型多轴工业机器人上位机控制界面的开发,包括:建立通讯、G代码控制、离线编程、示教、轨迹仿真等。
[Abstract]:SCARA robot is one of the most widely used types in industrial robot. The traditional SCARA robot is characterized by parallel axis of rotating joint. The special structure makes the design of its control system especially simple. It is widely used in handling, patch and other occasions. The structure is light and fast, when used in welding. Direct welding torch control can not guarantee the welding torch attitude control, so it is proposed to add another attitude axis to coordinate the trajectory control with the positioner. Ensuring welding quality. Robot control system is an important part of robot, which is used to realize robot motion and trajectory control. The task is to develop the control system of SCARA multi-axis industrial robot by using the CODESYS software of 3s company in Germany. The main research contents are as follows: the first part is the kinematics analysis of SCARA multi-axis welding robot, including space description and transformation. The D-H coordinate system is established and the forward and inverse kinematics of the robot is calculated and the choice of multiple solutions is discussed. And the selection of the solution at the singular position of the mechanism. The second part studies the coordinate system of the SCARA type multi-axis welding robot system. The mathematical model of vertical orthogonal pipe intersecting curve is established and the MATLAB simulation is carried out. The coordinated control algorithm between robot and positioner is studied including the attitude control of terminal tool. Robot pose control. The position and attitude change matrix of the weld during the rotation of the positioner. The third part is based on the CODESYS development platform to design the control system of the SCARA multi-axis robot, including: axis parameter configuration. Master and slave station setting, view management, point control design, teaching control design, speed and path planning design and so on, built the hardware platform. 4th part of the SCARA multi-axis welding robot simulation model. The position of real-time transmission axis is controlled by OPC, and the modularized simulation design of different tools is carried out in the upper computer, which simulates different sites and can switch tools and function blocks. The last part is the development of the upper computer control interface of SCARA multi-axis industrial robot, including the establishment of communication code control, off-line programming, teaching, trajectory simulation and so on.
【学位授予单位】：山东大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242.2

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