喷涂机器人的轨迹规划方法研究

发布时间：2018-07-22 20:49

【摘要】：随着工业机器人的广泛运用,我国的制造技术蒸蒸日上,正在朝自动化程度较高的先进装备发展。轨迹规划作为本文的研究主题,是六自由度臂式喷涂机器人控制系统的关键部分。为了能够使喷涂机器人的运行更加光滑顺畅,本文拟采用自适应可控算法对机器人轨迹进行规划。首先,本文利用DH矩阵变换来对本文的六自由度臂式机器人进行数学模型的建立,并根据对应的数学模型计算机器人的正运动学和逆运动学。为了解决机器人轨迹规划中路径插补不光滑、连续性不好等问题,本文从三个层面对机器人轨迹进行规划,分别为自适应速度规划层、空间位姿路径拟合层以及前瞻速度控制层:在自适应速度规划层,相较于梯型速度规划和正弦速度规划,本文利用S型曲线,设计了两种能够自适应各种情况的S型速度规划器;在空间位姿路径拟合层,将机器人的空间路径分割成空间位置和姿态两个方面拟合,提出用三次B样条插补解决位置空间的平滑过渡问题,采用单位四元数进行机器人的姿态解算并用球面插补曲线对姿态空间位置轨迹进行拟合;在前瞻速度控制层,计算出路径中曲率较大的点进行标记,限制此处的速率保证机器人能够在高曲率点能够平稳运行,然后对需要频繁加减速的路径上进行速度优化,在符合机器人轨迹规划条件的基础上对该段路径的速度优化,防止机器人在运动过程中频繁启停。最后,利用MATLAB软件对本文的自适应可控轨迹规划算法进行仿真,验证了本文设计的算法是可行的。
[Abstract]:With the wide application of industrial robots, the manufacturing technology of our country is booming and developing towards the advanced equipment with higher degree of automation. Trajectory planning is a key part of the control system of a six-DOF arm spraying robot as a research topic in this paper. In order to make the spraying robot run more smoothly, the adaptive controllable algorithm is used to plan the trajectory of the robot. Firstly, the DH matrix transformation is used to establish the mathematical model of the six-degree-of-freedom manipulator, and the forward and inverse kinematics of the robot are calculated according to the corresponding mathematical model. In order to solve the problems of path interpolation and poor continuity in robot trajectory planning, this paper plans the robot trajectory from three levels, which are adaptive speed planning layer. In the adaptive velocity planning layer, compared with the trapezoidal velocity planning and sinusoidal velocity planning, the S-type curve is used in this paper. In this paper, two kinds of S-type velocity planners are designed, which can adapt to all kinds of situations, and divide the space path of robot into two aspects: space position and attitude fitting in the space pose path fitting layer. The cubic B-spline interpolation is used to solve the smooth transition problem of position space. The attitude solution of robot is carried out by using unit quaternion and the spherical interpolation curve is used to fit the position trajectory of attitude space. The points with large curvature in the path are calculated to be marked, and the speed limit here is limited to ensure that the robot can run smoothly at the high curvature point, and then optimize the speed on the path that requires frequent acceleration and deceleration. In order to prevent the robot from starting and stopping frequently in the course of motion, the speed of the path is optimized on the basis of the robot trajectory planning condition. Finally, the adaptive controllable trajectory planning algorithm is simulated by MATLAB software, and the feasibility of the proposed algorithm is verified.
【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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