跨平台工业机器人离线编程系统研究与开发

发布时间：2018-03-17 02:14

本文选题：离线编程　切入点：跨平台　出处：《广东工业大学》2016年硕士论文　论文类型：学位论文

【摘要】：工业机器人的编程方式主要有示教再现编程和离线编程,其可编程能力决定了其功能的灵活性和智能性。目前国内广泛使用的机器人示教再现编程方式因为其编程效率低下,难以满足实际生产需求；而国外普遍流行的机器人离线编程系统均基于PC,不能跟机器人控制系统结合形成闭环,另外轨迹规划算法耗时长。针对以上存在的问题,本文初次尝试开发了一套能满足实际生产需要的工业机器人跨平台离线编程系统,为以后把离线编程整合到机器人控制系统奠定了基础。本文主要工作如下：针对市场上众多离线编程软件对硬件平台的高依赖性,本文提出开发一套能满足嵌入式移动端的跨平台离线编程系统。对众多开发平台进行了大量的对比分析后,选定Unity3D软件作为本系统的开发平台。Unity3D具备众多优势,如完备的引擎功能、高效的工作流程、逼真的画面效果以及跨平台发布等,为本文开发跨平台工业机器人离线编程系统奠定了平台基础。针对目前工业上广泛使用的一类六轴串联工业机器人,使用D-H参数法对其建立了数学模型,并推导了该类型机器人的正运动学、逆运动学方程。另外,针对运动学逆解存在多解问题,引入了基于最小转动量的评价函数,最后编程实现并进行了仿真验证,为离线编程系统的轨迹规划奠定了理论基础。本文提出了一种机器人空间圆弧插补算法,利用把空间圆弧转化为平面圆弧进行处理,再通过逆转化来分配各个轴向的插补量。另外,本离线编程系统还针对教育领域加入了TCP标定功能,推导了用三点法、五点法求出TCP的位置与姿态的算法,并且跟实体机器人的TCP标定算法进行了实验对比验证。接着还实现了固定TCP模式与外部TCP模式下的运动轨迹规划算法。本文讨论了当前变位机与机器人七轴联动轨迹规划算法的原理及其计算量大、耗资源等不足。针对此算法的不足,本文提出了一种快速搜索算法,把变位机作为主动臂,工业机器人作为从动臂,基于三次多项式拟合姿态曲线,得出路径点对应的每个关节的角度。本算法具有响应速度快、计算精确等优势,并且通过实验验证适用于轨迹形状不是特别复杂的开闭环曲线。针对跨平台离线编程系统的编程实现,本文先进行系统架构的分析与搭建,再结合自主设计的人机交互设计进行了系统开发,并使用该系统在装有Android系统的可移动终端进行了运动仿真与轨迹规划。最后,通过绘图、打磨和焊接应用进行实验验证,结果表明本文所开发的跨平台离线编程系统能有效的进行工业机器人离线编程,并且具有一定的实用意义,可以满足生产现场对跨平台的需要。
[Abstract]:The programming methods of industrial robot are mainly teaching reproducing programming and off-line programming, and its programmable ability determines the flexibility and intelligence of its functions. At present, the robot teaching and reproducing programming mode is widely used in our country because of its low programming efficiency. It is difficult to meet the actual production demand, but the common overseas robot off-line programming system is based on PC-based, can not be combined with the robot control system to form a closed loop, in addition, the trajectory planning algorithm takes a long time. This paper first tries to develop a cross-platform off-line programming system for industrial robots, which can meet the actual production needs. It lays a foundation for integrating offline programming into robot control system. The main work of this paper is as follows: aiming at the high dependence of many off-line programming software on hardware platform in the market, This paper proposes to develop a cross-platform off-line programming system that can satisfy the embedded mobile terminal. After a lot of comparative analysis of many development platforms, Unity3D software is chosen as the development platform of the system. The Unity3D has many advantages. Such as complete engine functions, efficient workflow, lifelike screen effect and cross-platform release, etc. This paper establishes the platform foundation for the development of off-line programming system of cross-platform industrial robot. Aiming at a class of six-axis series industrial robot which is widely used in industry at present, the mathematical model is established by using D-H parameter method. The forward kinematics and inverse kinematics equations of this kind of robot are derived. In addition, an evaluation function based on minimum rotation is introduced to solve the problem of multiple solutions in inverse kinematics solution. This paper presents a space arc interpolation algorithm for robot, which is processed by transforming space arc into plane arc. In addition, the off-line programming system also adds TCP calibration function to the field of education, and deduces an algorithm to calculate the position and attitude of TCP by three-point method and five-point method. The algorithm is compared with the TCP calibration algorithm of the solid robot. Then, the motion trajectory planning algorithm based on the fixed TCP mode and the external TCP mode is realized. This paper discusses the linkage between the current position changer and the robot with seven axes. The principle of trajectory planning algorithm and its calculation amount is very large. Aiming at the shortage of this algorithm, a fast searching algorithm is proposed in this paper, in which the positioner is used as the active arm and the industrial robot as the follower, and the attitude curve is fitted based on cubic polynomial. The angle of each joint corresponding to the path point is obtained. This algorithm has the advantages of fast response speed, accurate calculation, and so on. And it is proved by experiment that the curve is not especially complicated. In order to realize the cross-platform off-line programming system, this paper analyzes and builds the architecture of the system. Then, the system is developed based on the human-computer interaction design, and the motion simulation and trajectory planning are carried out on the mobile terminal with Android system. Finally, the experiments are carried out through drawing, polishing and welding applications. The results show that the cross-platform off-line programming system developed in this paper can effectively carry out off-line programming of industrial robot, and has certain practical significance, and can meet the needs of cross-platform in production field.
【学位授予单位】：广东工业大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TP242.2

【参考文献】