PR1400焊接机器人轨迹优化

发布时间：2018-03-21 03:47

本文选题：PR1400　切入点：D-H　出处：《南京理工大学》2017年硕士论文　论文类型：学位论文

【摘要】：机器人可以被看作是一种能够扩展人类工作能力的有效工具,在人类改造世界的过程中,机器人发挥着越来越举足轻重的作用。焊接机器人是机器人家族中的一个重要分支,是机器人领域的重要研究方向。关节型焊接机器人以其工作范围大、动作灵活、结构紧凑等特点在焊接机器人研究中备受设计者和使用者青睐。对关节型焊接机器人运动轨迹规划和控制的研究,一直受到学者的普遍关注。本文,首先对机器人的定义、研究现状、及其发展前景作了介绍。针对熊猫集团的PR1400焊接机器人,通过对其参数结构进行分析,确定其工作范围,并采用粒子群算法对该机器人工作范围内的某焊接任务的焊接路径进行了优化求解,力求得到一条最短焊接路径。其次,介绍了关节型机器人的空间位姿表示方法,并采用D-H法建立了 PR1400焊接机器人的连杆坐标系,对其进行了正逆运动学分析,为PR1400焊接机器人的轨迹规划做准备。再次,研究了焊接机器人轨迹规划的一般方法。在关节空间,针对不同的约束条件,分别对PR1400焊接机器人进行了三次多项式插值的轨迹规划、高次多项式插值的轨迹规划、和抛物线过渡的线性插值的轨迹规划;在笛卡尔空间深入研究了 PR1400焊接机器人的直线轨迹规划和圆弧轨迹规划,并分析了不同轨迹规划的优缺点。最后应用虚拟建模技术,在MATLAB中建立PR1400焊接机器人的仿真模型,按照已经规划好的末端焊枪运动轨迹,对焊接过程进行轨迹规划仿真,并研究了该焊接机器人的运动学指标在仿真运动过程中的变化情况。从理论分析和仿真实验结果的一致性,证明了所采用的轨迹规划算法的有效性、合理性和在轨迹规划方面的可行性。
[Abstract]:Robots can be regarded as an effective tool to expand the ability of human beings to work. Robots play a more and more important role in the process of human transformation of the world. Welding robots are an important branch of the robot family. Joint welding robot is an important research direction in the field of robot. The characteristics of compact structure are favored by designers and users in the research of welding robot. The research on motion trajectory planning and control of jointed welding robot has been paid more and more attention by scholars. In this paper, firstly, the definition of robot is introduced. This paper introduces the present situation of the research and its development prospects. According to the PR1400 welding robot of Panda Group, the parameter structure of the robot is analyzed, and the scope of its work is determined. Particle swarm optimization (PSO) algorithm is used to solve the welding path of a welding task in the robot's working range, and the shortest welding path is obtained. Secondly, the space pose representation method of the joint robot is introduced. The coordinate system of PR1400 welding robot is established by D-H method, and the kinematics analysis is carried out to prepare for the trajectory planning of PR1400 welding robot. The general method of trajectory planning for welding robot is studied. In the joint space, the trajectory planning of cubic polynomial interpolation and high-order polynomial interpolation are carried out for PR1400 welding robot under different constraint conditions. The linear interpolation trajectory planning of parabola transition, the linear trajectory planning and arc trajectory planning of PR1400 welding robot in Cartesian space are studied, and the advantages and disadvantages of different trajectory planning are analyzed. The simulation model of PR1400 welding robot is established in MATLAB. According to the planned trajectory of the end welding torch, the trajectory planning simulation of the welding process is carried out. The variation of the kinematics index of the welding robot during the simulation process is studied. The validity of the trajectory planning algorithm is proved by the consistency between the theoretical analysis and the simulation results. Rationality and feasibility in trajectory planning.
【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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