工业机器人轨迹规划及插补算法的研究

发布时间：2018-06-19 12:51

本文选题：机器人 + 轨迹规划　；参考：《江苏科技大学》2017年硕士论文

【摘要】：我国工业化处于高速发展的阶段,机器人控制技术的研究对加快工业4.0进程具有重要意义。轨迹规划作为机器人控制技术的重要组成部分逐渐成为热门研究方向。从工业机器人在国内外的研究发展现状可以看出我国急需研究开发工业机器人相关控制技术,而现有的轨迹规划方法存在应对机器人过弯作业时会引起冲击的不足,例如激光切割、焊接喷涂等机器人在高速过弯时会因冲击造成本体振动,影响作业精度。针对此问题提出分段轨迹规划的思想,以F3型机器人为研究对象,先通过改进DH法构建机器人数学模型;再针对机器人作业轨迹示教点任意分布的情况,选用三次非均匀B样条曲线来拟合机器人在笛卡尔空间中的作业轨迹,提高拟合曲线精度;依据轨迹曲率极值点对曲线分段处理,采用复合积分公式计算单段曲线长度,保证计算精度。选用两种不同的速度控制曲线进行对比分析,表明了梯形速度曲线因加速度的突变会引起对本体的冲击。选用S形速度曲线进行轨迹规划,设计S形速度规划器,规划器以曲线长度和始末速度限制作为输入量计算得出插补步长。构建u-L反函数,求解任意插补步长L对应的空间插补点位置参数u。最后分别采用全局标准S形速度规划、分段标准减速S形速度规划以及分段预减速S形速度规划算法对F3型机器人进行仿真,通过速度、加速度曲线变化的对比以及空间插补效果的直观对比,表明采用分段式预减速轨迹规划算法可以有效的减小机器人末端在过弯时产生的冲击,抑制振动,保证机器人运行平稳。将机器人末端执行器在作业时速度、加速度和加加速度进行空间分解,更加直观对比全局标准S形速度规划与分段预减速S形速度规划对机器人末端执行器造成的冲击和影响,表明算法的真实有效性。
[Abstract]:China's industrialization is in the stage of rapid development, and the research of robot control technology is of great significance to accelerate the process of industry 4.0. As an important part of robot control technology, trajectory planning has gradually become a hot research direction. From the current situation of industrial robot research and development at home and abroad, it can be seen that there is an urgent need to research and develop the relevant control technology of industrial robot in our country. However, the existing trajectory planning methods are insufficient to deal with the impact caused by over-bending operation of the robot. For example, laser cutting, welding spraying and other robots will vibrate at high speed due to impact, which will affect the precision of operation. In order to solve this problem, the idea of segmented trajectory planning is put forward. Taking F3 robot as the research object, the mathematical model of robot is constructed by improving DH method, and then aiming at the arbitrary distribution of locus teaching points of robot operation, The cubic nonuniform B-spline curve is used to fit the robot's working trajectory in Cartesian space, and the precision of the fitting curve is improved, the curve is segmented according to the extreme point of trajectory curvature, and the length of a single segment curve is calculated by the compound integral formula. Ensure the accuracy of the calculation. Two different velocity control curves are chosen to compare and analyze, which shows that the trapezoidal velocity curve will cause shock to the body because of the sudden change of acceleration. S-shape velocity curve is selected for trajectory planning and S-shape velocity planner is designed. The length of curve and the limit of velocity at beginning and end are used as input to calculate the interpolation step. The u-L inverse function is constructed and the space interpolation point position parameter u corresponding to the arbitrary interpolation step L is solved. Finally, the F3 robot is simulated by global standard S-shape velocity planning, piecewise standard deceleration S-shape velocity planning and piecewise pre-deceleration S-shape velocity planning algorithm. The comparison of acceleration curve change and space interpolation effect shows that the segmented pre-deceleration trajectory planning algorithm can effectively reduce the impact of the end of the robot in the bending, suppress the vibration, and ensure the smooth operation of the robot. In this paper, the velocity, acceleration and acceleration of the robot terminal actuator are decomposed in space, and the impact and influence of the global standard S-shape velocity planning and the segmented pre-deceleration S-shape velocity planning on the robot end actuators are compared intuitively. The validity of the algorithm is demonstrated.
【学位授予单位】：江苏科技大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242.2

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