五自由度串联机器人控制系统设计与仿真

发布时间：2018-05-28 15:12

本文选题：运动学分析 + 轨迹规划　；参考：《天津科技大学》2017年硕士论文

【摘要】：工业机器人机器人在当今的工业生产中已经占据着越来越重要的地位,我通过对五自由度机器人控制系统的设计,将有关机器人的知识在设计过程中得以重现,通过计算机软件对机器人进行了仿真,并搭架了能够实现简单运动并满足实验室教学需要的五自由度串联机器人。本文研究的五自由度串联机器人采用步进电机驱动,并搭建了实体机器人模型;舵机则在仿真中和步进电机做对应,进行对比性研究。首先以三维建模为基础,对要搭建的实体机器人进行了控制相关组件的选型,包括电机控制、电机、通讯传感器模块等;然后对机器人进行了运动学的计算和仿真,优化了机器人各个自由度的运动角度范围;接下来对机器人上步进电机的速度轨迹和执行末端的轨迹进行了规划与仿真,确定了两种轨迹的方案;然后针对机器人关节上步进电机控制进行了研究,根据驱动步进电机的原理特点以及机器人上关节运动的需要,并结合上一部分步进电机的速度曲线,制定出了一套高精度控制机器人关节上步进电机的方案。最后一部分是控制系统的仿真与搭建,也是本文研究的重点部分。首先是基于matlab中的Simmechanics模块组建立了机器人的仿真模型,然后在驱动模块中分别仿真了步进电机和舵机两种方案,并进行了对比;然后是搭建实体模型的控制系统,其中包括了通讯、传感器以及电机驱动器模块与单片机的接线和使用,最后重点介绍了电脑端控制界面的设计,包括基于QT设计界面的基本方法以及QT中串口通信函数库的使用等。
[Abstract]:Industrial robots are playing a more and more important role in today's industrial production. Through the design of a five-degree-of-freedom robot control system, I recreate the knowledge of the robot in the design process. The robot is simulated by computer software and a series robot with five degrees of freedom which can realize simple motion and meet the needs of laboratory teaching is built. The five-degree-of-freedom series robot is driven by stepper motor, and a solid robot model is built, while the steering gear is compared in simulation and step motor. Firstly, based on 3D modeling, the control components of the robot are selected, including motor control, motor, communication sensor module and so on, and then the kinematics calculation and simulation of the robot are carried out. The motion angle range of each degree of freedom of the robot is optimized, and then the velocity trajectory of the stepping motor and the trajectory of the executing end are planned and simulated, and the two kinds of trajectory schemes are determined. Then, the control of the step motor on the robot joint is studied. According to the principle characteristics of the driving step motor and the need of the motion of the robot joint, the speed curve of the step motor is combined with the speed curve of the upper part of the step motor. A high-precision control scheme of step motor on robot joint is developed. The last part is the simulation and construction of the control system. First, the simulation model of robot is established based on Simmechanics module group in matlab, and then two schemes of stepping motor and steering gear are simulated in the driving module, and then the control system of solid model is built. It includes communication, sensor and motor driver module connection and use with single chip microcomputer. Finally, the design of computer terminal control interface is introduced. It includes the basic method of designing interface based on QT and the use of serial communication function library in QT.
【学位授予单位】：天津科技大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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