面向高速搬运的Delta机器人轨迹优化及控制

发布时间：2018-07-03 02:51

本文选题：Delta机器人 + 运动学　；参考：《哈尔滨工业大学》2017年硕士论文

【摘要】：Delta机器人是一种高速度、高效率的工业机器人,在自动化生产线上应用广泛。而我国Delta机器人的应用与开发相对比较薄弱。故本文的研究对象是Delta机器人,从轨迹规划、控制两个方面分别进行分析与研究,旨在提高机器人的运动稳定性,并且减少其残余振动。本文的主要内容如下:1)Delta机器人机构及运动学分析。首先分析了Delta并联机器人的自由度、机构。建立机器人的运动学模型,并对机器人运动学的正逆解进行推导。运用机器人的正解,分析其工作空间。为轨迹规划与控制奠定了基础。2)Delta机器人轨迹设计与优化。首先分析了门形路径轨迹中存在直角,导致速度和加速度突变,进而导致惯性力的突变。为了避免惯性力的突变,采用回旋线-圆曲线-回旋线的方式对连接处处理。其次,建立了包含回旋线的门形轨迹,进行了相应的坐标转换,并分别对非对称的速度规律和对称的速度规律进行分析。最后,以机器人的末端执行器最大加速度最小为优化目标,并考虑加加速度优化问题,得到优化后轨迹的相关参数。3)机器人控制系统构建。首先开放式控制器结构分析的基础上,选择PC+运动控制卡的控制方案。对运动控制卡进行简述,并对固高运动控制卡做了详细介绍。其次,根据机器人高速性的需求,对机器视觉进行了论述,选择台达机器视觉系统,并介绍其应用方式。为实验平台的搭建打下良好的基础。4)实验平台搭建及实验分析。首先完成了实验平台的搭建工作,其硬件包括:机器人的本体、下位机控制器、伺服电机单元、机器视觉系统、电气装置等。其次,对独立开发的机器人控制软件进行了介绍,该软件采用了多线程的架构,可以完成对伺服电机的测试和轨迹控制等任务,并对运动控制器的PID进行整定。最后,进行标准轨迹实验测试,优化后的运动轨迹与采用半径为25mm的圆弧过渡轨迹在对称速度规律下进行了对比实验。实验表明优化后的运动轨迹能够使机器人运动更加平稳,残余振动更小。优化后的运动轨迹在非对称的速度规律和对称的速度规律两种规律下进行对比实验。结果表明,机器人在非对称的速度规律下,具有更小的残余振动。
[Abstract]:Delta robot is a kind of industrial robot with high speed and high efficiency, which is widely used in automatic production line. However, the application and development of Delta robot in China is relatively weak. Therefore, the research object of this paper is Delta robot, which is analyzed and studied from two aspects of trajectory planning and control, in order to improve the motion stability of the robot and reduce its residual vibration. The main contents of this paper are as follows: 1) Delta robot mechanism and kinematics analysis. Firstly, the degree of freedom and mechanism of Delta parallel robot are analyzed. The kinematics model of the robot is established, and the forward and inverse solutions of the kinematics of the robot are deduced. The positive solution of robot is used to analyze its workspace. It lays a foundation for trajectory planning and control. 2) Delta robot trajectory design and optimization. In this paper, we first analyze the existence of right angles in the gate path, which leads to the mutation of velocity and acceleration, and then the mutation of inertial force. In order to avoid the abrupt change of inertial force, the connection is treated by means of gyroid-circular curve-cyclotron. Secondly, the gate trajectory including the cyclotron line is established, the corresponding coordinate transformation is carried out, and the asymmetric velocity law and the symmetric velocity law are analyzed respectively. Finally, taking the maximum acceleration and minimum acceleration of the end effector as the optimization target and considering the acceleration optimization problem, the related parameters of the optimized trajectory are obtained. 3) the robot control system is constructed. On the basis of structure analysis of open controller, the control scheme of PC motion control card is selected. The motion control card is briefly described, and the solid height motion control card is introduced in detail. Secondly, according to the requirement of robot's high speed, machine vision is discussed, and its application mode is introduced. Lay a good foundation for the construction of the experimental platform. 4) the experimental platform construction and experimental analysis. The hardware includes the robot body, the lower controller, the servo motor unit, the machine vision system, the electrical device and so on. Secondly, the independently developed robot control software is introduced. The software adopts multi-thread architecture, which can complete the tasks of servo motor testing and trajectory control, and adjust the pid of motion controller. Finally, the standard trajectory test is carried out, and the optimized trajectory is compared with the arc transition trajectory with radius of 25mm under the law of symmetrical velocity. Experiments show that the optimized trajectory can make the robot move more smoothly and the residual vibration is smaller. The optimized motion trajectory is contrasted under the law of asymmetric velocity and symmetrical velocity. The results show that the robot has smaller residual vibration under asymmetric velocity law.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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