六自由度机器人控制与仿真技术研究

发布时间：2018-04-30 06:11

本文选题：六自由度机器人 + 正逆运动学　；参考：《山东大学》2017年硕士论文

【摘要】：六自由度机器人是一类非常重要的工业机器人。目前我国工业机器人尤其是六自由度机器人严重依赖于进口,严重制约了我国制造业及相关产业的发展。国产六自由度机器人与国外六自由度机器人的差距不仅仅表现在硬件方面(减速机、伺服驱动器、伺服电机),也在控制和仿真技术等软件方面有所体现。研究六自由度机器人控制与仿真技术,具有重要的学术价值,而且对提高机器人运动控制的稳定性、安全性、准确性也有重要的现实意义。本文对六自由度机器人控制和仿真技术进行了研究,主要研究内容和取得的成果如下:(1)对六自由度机器人(以KUKA KR 1000 Titan机器人为例)的数学理论进行了系统研究,包括六自由度机器人数学建模、机器人空间描述和变换、D-H表示法三方面,为后续对其运动学、静力学、动力学等内容的研究奠定了重要的理论基础。(2)根据KUKAKR 1000 Titan机器人的数学模型,建立了其D-H坐标系以及与之相对应的参数表,并对其正逆运动学方程进行了研究;提出了六自由度机器人逆运动学方程计及关节配置状态的几何解法。与代数解法相比,使用几何解法不仅使得求解过程更加直观,还可以较大程度上降低逆运动学方程求解的复杂度。同时结合关节配置状态,能够进一步提高该方法的健壮性。采用MATLAB仿真并验证了六自由度机器人正逆运动学方程的正确性。(3)在KUKAKR 1000Titan机器人运动学研究的基础上,研究了其静力学中的雅可比矩阵和分析了其奇异位形的情况;研究了六自由度机器人的动力学问题,并在ADAMS软件中对KUKA KR 1000 Titan机器人进行了动力学仿真实验,得到了其末端中心点的轨迹曲线和各关节的力与力矩曲线。(4)针对六自由度机器人位置值和姿态值不同的插补方法,分别研究了对应的轨迹生成算法;根据六自由度机器人不同的应用场合,从位置控制策略和力控制策略两个方面对其控制策略进行了研究。(5)研究了六自由度机器人仿真技术,对WPF中已有的三维模型处理方法进行了改进,使模型处理过程得以简化;研究开发了六自由度机器人仿真软件,并给出了在线运动控制技术的实施方法。同时,对仿真软件中重要组成模块所采用的相关技术进行了研究,如模型文件配置与处理、示教、碰撞检测、自动编程。提出了基于XML语言的机器人模型配置文件结构规范,并给出了该结构规范的具体实施方法,实现了对机器人模型的通用性配置,既降低了仿真软件的复杂度又提高了其可靠性。
[Abstract]:Six degree of freedom robot is a kind of very important industrial robot. At present, China's industrial robots, especially six-degree-of-freedom robots, rely heavily on imports, which seriously restrict the development of our manufacturing industry and related industries. The difference between domestic and foreign six-degree-of-freedom robots is not only reflected in the hardware (reducer, servo driver, servo motor), but also in the software of control and simulation technology. It is of great academic value to study the control and simulation technology of six-degree-of-freedom robot, and it is also of great practical significance to improve the stability, safety and accuracy of robot motion control. In this paper, the control and simulation technology of six-degree-of-freedom robot is studied. The main contents and achievements are as follows: (1) the mathematical theory of six-degree-of-freedom robot (KUKA KR 1000 Titan robot as an example) is systematically studied. Including six degrees of freedom robot mathematical modeling, robot space description and transformation of D-H representation, for the subsequent kinematics, statics, Based on the mathematical model of KUKAKR 1000 Titan robot, the D-H coordinate system and the corresponding parameter table are established, and the forward and inverse kinematics equations are studied. In this paper, the inverse kinematics equation of a six-DOF robot and the geometric solution of the joint configuration state are presented. Compared with the algebraic method, the geometric method not only makes the solving process more intuitive, but also reduces the complexity of solving inverse kinematics equations to a large extent. At the same time, the robustness of the method can be further improved by combining the joint configuration state. The correctness of forward and inverse kinematics equation of six-degree-of-freedom robot is simulated and verified by MATLAB. Based on the kinematics of KUKAKR 1000Titan robot, the Jacobian matrix in statics and the singular configuration are studied. The dynamics of a six-degree-of-freedom robot is studied, and the dynamic simulation experiment of KUKA KR 1000 Titan robot is carried out in ADAMS software. The trajectory curve of the center point at the end and the force and torque curve of each joint are obtained. (4) aiming at the different interpolation methods of the position and attitude values of the six-degree-of-freedom robot, the corresponding trajectory generation algorithms are studied respectively. According to the different application situations of six-degree-of-freedom robot, the simulation technology of six-degree-of-freedom robot is studied from two aspects: position control strategy and force control strategy. The existing 3D model processing method in WPF is improved to simplify the process of model processing, and the simulation software of six degrees of freedom robot is developed, and the implementation method of on-line motion control technology is given. At the same time, the related technologies used in the important components of simulation software are studied, such as the configuration and processing of model files, teaching, collision detection and automatic programming. The configuration file structure specification of robot model based on XML language is proposed, and the concrete implementation method of the structure specification is given. The universal configuration of robot model is realized, which not only reduces the complexity of simulation software, but also improves its reliability.
【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

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