导焦机器人路径规划与优化控制技术研究

发布时间：2018-02-04 01:45

本文关键词： 导焦机器人路径规划上位机控制　出处：《上海应用技术大学》2017年硕士论文　论文类型：学位论文

【摘要】：随着机器人技术的发展,越来越多的领域我们可以看到机器人的影子。作为高污染、高排放的焦炉行业,如果也能够把机器人应用到其中,这将会给工人的工作环境带来极大改善。我国是产焦大国,然而,作为中国钢铁业先进制造技术的领头羊,宝钢却面临着以下几个方面的问题。(1)人力成本逐年上升的压力。(2)恶劣工况环境下人工作业的压力。(3)宝钢生产线上机器人应用水平明显低于国际平均水准。(4)宝钢冶金炼焦工业规模在约450万吨/年,但炉前作业仍全部采用人工作业。随着近年来对机器人研究的深入,工业机器人的应用已不再仅仅局限于制造业,像一些特殊行业,如采矿、救援以及水电系统维护等非制造业也已经引入了机器人,但焦炉炉前却无机器人应用的先例,在这样的背景下,研发出一种能够代替人工完成炉前作业的机器人就显得尤为重要。本文的研究内容正是在这样的背景下展开的。针对导焦机器人的路径规划问题,介绍了导焦机器人的机械臂运动学分析,包括导焦机器人的D-H建模,正运动学分析、逆运动学分析等;接着介绍了机器人轨迹规划的方法,包括三次多项式插值法和五次多项式插值法,并用这两种方法分别对导焦机器人的轨迹进行了仿真比较;然后对导焦机器人的路径轨迹进行示教编程,其中包括工具坐标和基坐标的测定,并用KUKASIM PRO对导焦机器人的路径轨迹进行仿真模拟;最后,探讨了基于C#的上位机对导焦机器人进行远程控制。本文的创新点和研究成果主要体现在以下几点:(1)分别用三次多项式插值法和五次多项式插值法,求出导焦机器人的路径轨迹,并与对此进行了仿真比较,仿真结果证明了五次多项式对导焦机器人的稳定运行具有明显优势。(2)用KUKASIMPRO,对五次多项式求出的路径进行仿真,仿真结果表明五次多项式插值法求出的路径规划能够满足导焦的基本要求。作为炉前作业的首台智能化作业机器人项目,导焦机器人的研发使工人从恶劣的炉前作业环境中解脱出来,极大地提高了炉前作业的自动化水平,具有重要的经济价值和社会价值。
[Abstract]:With the development of robot technology, we can see the shadow of robot in more and more fields. This will greatly improve the working environment of the workers. China is a big coke producing country, however, it is the leader of advanced manufacturing technology in China's steel industry. Baosteel, however, faces the following problems: (1) the pressure of increasing labor costs year by year. (2) the pressure of manual work under adverse working conditions. The application level of robot in Baosteel production line is obviously lower than the international average level. (4) the scale of metallurgical coking industry of Baosteel is about 4.5 million tons per year. In recent years, the application of industrial robots is no longer confined to the manufacturing industry, such as some special industries, such as mining. Robots have also been introduced into non-manufacturing industries such as rescue and maintenance of hydropower systems, but there is no precedent for robot applications before coke ovens, in such a context. It is very important to develop a robot that can replace manual work in front of furnace. The research content of this paper is just in this background, aiming at the path planning problem of focusing robot. The kinematics analysis of the robot arm is introduced, including D-H modeling, forward kinematics analysis, inverse kinematics analysis and so on. Then the trajectory planning methods of robot are introduced, including cubic polynomial interpolation method and quintic polynomial interpolation method, and the trajectory of focusing robot is simulated and compared with these two methods. Then the path trajectory of the focusing robot is programmed, including the measurement of the tool coordinate and the base coordinate, and the path trajectory of the focusing robot is simulated by KUKASIM PRO. Finally. This paper discusses the remote control of the focusing robot based on C #. The innovation and research results are mainly reflected in the following points: 1) the cubic polynomial interpolation method and the fifth polynomial interpolation method are used respectively. The path trajectory of the robot is obtained and compared with the simulation. The simulation results show that the quintic polynomial has an obvious advantage in the stable operation of the robot with KUKASIMPRO. The simulation results show that the path planning obtained by the fifth polynomial interpolation method can meet the basic requirements of coking. It is the first intelligent robot project to operate before the furnace. The research and development of coke guiding robot can free workers from the bad working environment in front of furnace, and greatly improve the automation level of the work in front of furnace, which has important economic and social value.
【学位授予单位】：上海应用技术大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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