码垛机器人运动控制系统的设计

发布时间：2018-05-28 01:26

本文选题：码垛机器人 + 串联结构　；参考：《济南大学》2016年硕士论文

【摘要】：随着科学技术的不断发展,机器人逐渐的参与到社会的很多领域,诸如人们的生活、教育、工业现场、国防及安全等。近年来,由于劳动力成本的不断提高,为提高经济效益,减轻人们的劳动量,码垛机器人开始在工业领域扮演着日趋重要的角色。码垛机器人与其他机器人相比,结构简单,具有较强的鲁棒性和柔性,易于控制等。该类型机器人可以完成工业现场的很多工作,被人们熟知的是生产流水线上的设备喷涂、切割、焊接及装卸等作用。本课题以码垛机器人的运动控制系统的设计作为研究方向,该部分的设计是码垛机器人重要的组成,也是该课题研究的重中之重。运动控制系统直接关系到整个系统的多项性能能否正常运行,及是否达到各项性能指标。与此同时,码垛机器人运动控制系统被广泛应用于生产车间的货物码垛,且货物搬运的效果具有很大的实际意义和应用价值。因此,本课题研究的意义重大。本课题是以那智不二越公司生产的LP130-01系列的串联型4自由度码垛机器人为研究对象,重点研究了该型号码垛机器人的运动控制系统,设计了关节控制器,并实现了单步控制与连续控制。通过MATLAB工具箱,对机器人的运动控制系统进行仿真,进而,实现了对设计方案可行性的验证。本课题主要对如下所示的四个方面的内容进行研究:(1)最基础的是对研究对象即LP130-01机器人本体,有清晰的认识与了解,因此,本课题首先进行机器人本体结构及技术参数的分析与研究,进而,为进一步研究打下基础。(2)对电机选型进行分析,并对电机容量进行计算,从而得到机器人允许范围内的负载,确保载重的可行性。(3)建立了LP130-01机器人运动学模型,求出了运动学模型的正、逆解,并通过MATLAB对运动空间进行仿真,确定机器人工作空间,验证运动学方程求解的正确性。(4)设计关节控制器,对机器人关节角进行控制,对机器人的运动轨迹进行规划,实现了起始点到目标点的单步控制和连续控制,并采用圆弧轨迹插补的方法,将轨迹进行优化,避免了锐利折线,形成一条光滑的运动曲线,将性能进行了优化,利用MATLAB进行验证,再次验证了运动学求解的正确性以及轨迹规划的可行性。
[Abstract]:With the development of science and technology, robots gradually participate in many fields of society, such as people's life, education, industrial scene, national defense and safety. In recent years, due to the continuous increase of labor costs, in order to improve economic efficiency and reduce the amount of labor, palletizing robots have begun to play an increasingly important role in the field of industry. Compared with other robots, palletizing robot has the advantages of simple structure, strong robustness, flexibility and easy control. This type of robot can accomplish a lot of work on the industrial site. It is well known for the functions of spraying, cutting, welding and loading and unloading equipment on the production line. In this paper, the design of motion control system of palletizing robot is taken as the research direction. The design of this part is an important component of palletizing robot and the most important part of the research. The motion control system is directly related to the performance of the whole system. At the same time, the motion control system of palletizing robot is widely used in the cargo palletizing of production workshop, and the effect of cargo handling has great practical significance and application value. Therefore, this research is of great significance. In this paper, we take the series 4-DOF palletizing robot of LP130-01 series produced by Nazidueryue Company as the object of study. The motion control system of this type of palletizing robot is studied emphatically, and the joint controller is designed. The single step control and continuous control are realized. The motion control system of the robot is simulated by MATLAB toolbox, and the feasibility of the design scheme is verified. This subject mainly studies the contents of four aspects as follows: 1) the most basic is to have a clear understanding and understanding of the object of study, that is, the body of the LP130-01 robot, so, Firstly, the structure and technical parameters of the robot are analyzed and studied. Then, the motor selection is analyzed and the motor capacity is calculated to get the load in the allowable range of the robot. The kinematics model of LP130-01 robot is established, the forward and inverse solutions of kinematics model are obtained, and the robot workspace is determined by MATLAB simulation. Verify the correctness of kinematics equation solving. (4) Design the joint controller, control the robot joint angle, plan the robot's motion trajectory, realize the one-step control and continuous control from the starting point to the target point. The arc trajectory interpolation method is used to optimize the trajectory to avoid sharp broken lines and form a smooth motion curve. The performance is optimized and verified by MATLAB. The correctness of kinematics and the feasibility of trajectory planning are verified again.
【学位授予单位】：济南大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TP242

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