码垛机器人动力系统控制与轨迹优化研究
发布时间：2018-03-13 06:34
本文选题：机器人 切入点：动力系统控制 出处：《南京理工大学》2017年硕士论文 论文类型：学位论文
【摘要】：随着现代化智能制造技术的发展,码垛机器人以高精度、智能化及占地范围小等优势逐渐取代了传统繁重、单一的人力堆垛劳作。结合码垛机器人更大柔性、更高精度以及更高速度的要求,本文以实际工程项目为研究背景,研究四自由度码垛机器人的动力系统控制平台,且探讨了基于关节空间的运行轨迹及算法的优化,以满足生产实践需求。首先,分析了ABT码垛机器人特殊的机械构型和运动特点,然后结合动力系统及控制系统各组成部分的功能要求,将系统分为操作、驱动控制和运动三大模块。其次,设计并实现了机器人动力控制系统软硬件体系,包括TrioMC405运动控制器的研究、伺服驱动装置的选取、人机界面设计以及整个动力控制系统的电气连接。并且以静态性能和动态性能为基础,通过计算,匹配合适的电机及驱动器型号。再次,在关节空间内对比并优化机器人末端运行轨迹。同时针对码垛机器人在高速运行中产生的冲击问题,以优化节拍为目的,将组合型拟合方法、非对称化和最短操作时间引入到轨迹规划算法中,提出梯形-三角拟合型函数和高阶拟合型函数算法。基于Matlab对轨迹规划结果进行了仿真与对比,结果显示轨迹规划曲线的高阶导数连续性及具有较小的速度、加速度最值的优点。最后,采用ABT码垛机器人为实验研究对象,对动力系统的性能以及本文提出的轨迹规划理论算法进行验证和分析,结果表明机器人动力系统能够满足相应的工作要求。同时,提出的关节轨迹规划方法解决了关节平滑驱动的问题,表明本文的规划方法切实可行且有利于提高机器人码垛运行效率。
[Abstract]:With the development of modern intelligent manufacturing technology, palletizing robot has gradually replaced the traditional heavy and single manual stacking work with the advantages of high precision, intelligence and small area of occupation. Combined with palletizing robot, the palletizing robot is more flexible. With the requirement of higher precision and higher speed, this paper takes the actual engineering project as the research background, studies the dynamic system control platform of the four-degree-of-freedom palletizing robot, and discusses the optimization of the trajectory and algorithm based on the joint space. Firstly, the special mechanical configuration and motion characteristics of the ABT palletizing robot are analyzed, and then the system is divided into operation according to the functional requirements of the power system and the control system. Secondly, the hardware and software system of robot dynamic control system is designed and implemented, including the research of TrioMC405 motion controller, the selection of servo drive device. The man-machine interface design and the electrical connection of the whole power control system. And based on static and dynamic performance, through calculation, matching the appropriate motor and driver model. Again, Contrasting and optimizing the trajectory of the end of robot in the joint space, aiming at the impact of palletizing robot in high speed, aiming at optimizing the beat, the combined fitting method is proposed. Asymmetric and shortest operation time are introduced into trajectory planning algorithm. Trapezoidal and triangular fitting functions and high-order fitting function algorithms are proposed. The trajectory planning results are simulated and compared based on Matlab. The results show the continuity of the higher derivative of the trajectory planning curve and the advantages of smaller velocity and acceleration. Finally, the ABT palletizing robot is used as the experimental object. The performance of the dynamic system and the trajectory planning algorithm proposed in this paper are verified and analyzed. The results show that the dynamic system of the robot can meet the corresponding requirements. The proposed joint trajectory planning method solves the problem of joint smooth driving, which shows that the proposed planning method is feasible and helpful to improve the efficiency of robot palletizing operation.
【学位授予单位】：南京理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242
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