基于体感操控的机器人示教系统的设计与实现

发布时间：2018-07-21 16:03

【摘要】：随着科学技术的进步,工业机器人已逐步进入我们的视野并被我们所使用。示教器是工业机器人的重要组成部分,其功能的种类以及操作的便捷性逐渐成为国内外的研究重点。传统机器人示教器是通过示教器上的摇杆或者按钮来控制机器人的运动,这会使示教器拥有笨重的外壳,操作的便捷性得不到保障。许多厂商的示教器系统都是自己研发的系统,不利于平台间的移植。针对机器人示教器的研发需求,结合Android平台易于开发的优点,提出了一种基于Android平台的体感示教方法。体感示教是根据示教器内部传感器的测量数据,来分析示教器的运动姿态,根据姿态的不同向控制器发送不同的运动命令,来完成对机器人的示教。首先是体感示教系统的总体设计。通过对Android智能终端操作系统的分析,选择体感示教软件的开发平台,并根据示教器的功能需求,明确体感示教系统的总体设计方案。其次是示教功能模块的设计。包括软件编程示教以及体感示教。软件编程示教中加入语法高亮、换行自动缩进等功能,便于在平板中编写及修改程序。体感示教主要是设备倾斜角度的测量。加速度传感器测量数值包含重力加速度分量,因此静止或匀速运动时,可以通过重力在各个轴上的分量测出设备的倾角。陀螺仪传感器在设备运动时可以根据瞬时角速度积分计算出设备相对于上一次采集时间的偏转角度。采用卡尔曼滤波器,结合两者的优点,将读取到的陀螺仪传感器数据以及加速度传感器数据作加权平均,在确保角度准确的前提下对数据进行融合,得到平稳的数据。再次是人机交互模块以及数据处理模块的设计。人机交互模块提供信息显示以及信息修改的功能。数据处理模块分为命令封装、数据解析以及信息保存功能。然后是通信模块的设计。通信模块是示教器的重要模块之一,主要从TCP与UDP连接、TCP的长连接机制、通信命令的确定等方面展开,并对通信模块进行了测试。最后,论文结尾对工作进行了总结,并展望了未来工作的方向。
[Abstract]:With the progress of science and technology, industrial robots have gradually entered our field of vision and been used by us. The teacher is an important part of industrial robot. The variety of its function and the convenience of its operation have gradually become the focus of research at home and abroad. The traditional robot instructor controls the movement of the robot by using the rocker or button on it, which makes the teacher have a heavy shell and the convenience of operation is not guaranteed. Many manufacturers of teacher systems are their own systems, is not conducive to the transplant between platforms. According to the research and development requirement of robot teacher and the advantage that Android platform is easy to develop, a teaching method of body sense based on Android platform is proposed. Based on the measurement data of the sensor inside the teacher, the body sense teaching is to analyze the motion attitude of the teacher, and send different motion commands to the controller according to the different attitude to complete the demonstration of the robot. The first is the overall design of the system. Based on the analysis of the Android intelligent terminal operating system, the development platform of the teaching software is selected, and the overall design scheme of the teaching system is defined according to the functional requirements of the instructor. The second is the design of teaching function module. Including software programming teaching and awareness teaching. Software programming teaching add syntax highlight, line-feed automatic indentation and other functions, easy to write and modify the program in the flat. Somatosensory teaching is mainly about the measurement of the tilting angle of the equipment. Acceleration sensor measurements include gravitational acceleration components, so when moving at rest or uniform speed, the inclination of the equipment can be measured by the component of gravity on each axis. The gyroscope sensor can calculate the deflection angle of the device relative to the last acquisition time according to the instantaneous angular velocity integral. By using Kalman filter and combining the advantages of the two methods, the data of gyroscope sensor and acceleration sensor are weighted average, and the data are fused to obtain stable data on the premise of accurate angle. Thirdly, the design of human-computer interaction module and data processing module. The man-machine interaction module provides the function of information display and information modification. Data processing module is divided into command encapsulation, data parsing and information saving function. Then there is the design of the communication module. The communication module is one of the important modules of the teacher, mainly from the TCP and UDP connection TCP long connection mechanism, communication command determination and so on, and has carried on the test to the communication module. Finally, the work is summarized at the end of the paper, and the future work is prospected.
【学位授予单位】：天津工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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