基于以太网通信的测量机器人轨迹控制研究

发布时间：2018-05-08 07:17

本文选题：以太网 + 测量　；参考：《华北理工大学》2017年硕士论文

【摘要】：以信息技术与制造业加速融合为主要特征的智能制造成为全球制造业发展的主要趋势,基于机器人的柔性化生产将成为未来制造业的主要生产模式。测量机器人是面向工业计量领域的坐标测量技术,特别适合柔性加工系统中的工序间和过程测量。分析了测量机器人系统的组成和工作过程,深入研究了库卡KR5 ARC和KR C4机器人系统,建立了测量机器人现场坐标系并完成标定,实现了系统信号通信和软件流程,能够为柔性视觉测量提供技术支持和实现手段。主要研究工作内容如下:1)建立了测量机器人现场坐标系并完成标定。根据机器人应用的一般原则建立了多个现场坐标系,借助靶标和测量臂完成传感器坐标系到中间坐标系,再到工件坐标系的坐标变换关系,将机器人各测量姿态的传感器坐标系统一到工件坐标系。2)离线测量机器人系统组成及工作过程研究。分析了离线测量机器人系统主要组成部分的特点和作用,利用现有实验条件组建了由以库卡机器人系统为运动单元、以测量计算机为控制单元的离线测量系统。3)基于以太网的通信机制研究。采用以太网实现机器人系统和测量计算机之间的通信,根据测量机器人系统工作过程确定所需的请求类信号和完成类信号,并将信号根据XML协议进行封装。4)测量机器人系统程序设计。分析了机器人不同运动方式的特点,采用自顶向下的设计思想将机器人程序划分为工件选择层、轨迹选择层和轨迹测量层,并进行了结构化设计与实现;从测量系统工作过程中抽象出不同的状态和行为,采用状态模式设计测量计算机轨迹控制模块程序。
[Abstract]:Intelligent manufacturing, which is characterized by the acceleration of integration of information technology and manufacturing industry, has become the main trend of global manufacturing development. Flexible production based on robot will become the main production mode of manufacturing industry in the future. Measuring robot is a coordinate measuring technology in the field of industrial metrology, which is especially suitable for interworking and process measurement in flexible machining system. The composition and working process of the measurement robot system are analyzed. The KR5 ARC and KRC4 robot systems are deeply studied. The field coordinate system of the measuring robot is established and calibrated. The system signal communication and software flow are realized. It can provide technical support and implement means for flexible vision measurement. The main work of this paper is as follows: (1) the field coordinate system of the measuring robot is established and calibrated. According to the general principles of robot application, several field coordinate systems are established, and the coordinate transformation from sensor coordinate system to intermediate coordinate system and then to workpiece coordinate system is completed with the aid of target and measuring arm. The composition and working process of an off-line measuring robot system are studied by unifying the sensor coordinate system of each attitude measurement of the robot to the workpiece coordinate system. The characteristics and functions of the main components of the off-line measurement robot system are analyzed. By using the existing experimental conditions, the Kuka robot system is used as the motion unit. The communication mechanism based on Ethernet is studied in the offline measurement system. 3, which takes the measurement computer as the control unit. Ethernet is used to realize the communication between the robot system and the measuring computer. According to the working process of the measurement robot system, the required signal of request class and the signal of completion class are determined. And the signal is encapsulated according to XML protocol. 4) the system program of measuring robot is designed. The characteristics of different motion modes of robot are analyzed. The robot program is divided into workpiece selection layer, trajectory selection layer and trajectory measurement layer by using top-down design idea, and structural design and implementation are carried out. Different states and behaviors are abstracted from the working process of measurement system, and the program of trajectory control module of measuring computer is designed by state mode.
【学位授予单位】：华北理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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