基于正态分布函数的工业机器人轨迹规划及仿真分析

发布时间：2018-08-07 07:55

【摘要】：进入二十一世纪以来,以智能制造为核心的新一轮工业革命正在悄然发生。发达国家均将制造业升级作为工业改革的首要任务,而工业机器人作为智能制造的核心技术,已成为衡量国家制造业水平的重要标志。自德国提出“工业4.0”以及美国“再工业化”之后,2015年3月5日李克强总理在《政府工作报告》中首次提出“中国制造2025”的宏伟计划。其目的就是为了提高中国制造业的国际竞争力,在新一轮工业革命中占领先机。经过半个多世纪的发展,人类在工业机器人核心技术上已取得了一定的突破,工业机器人技术也已日趋成熟,但工业机器人运动控制与规划问题一直影响着机器人技术的快速发展,对于工业机器人而言,要完成相应的工作任务,就必须进行运动控制与规划,它给定了工业机器人系统的工作方式及其运动效率。所以,运动控制与规划是工业机器人研发的关键技术所在。工业机器人运动控制与规划又包含了轨迹规划与路径跟踪两个部分。而轨迹规划又是运动控制与规划研究中一个长期存在的问题。工业机器人轨迹规划的优劣很大程度上取决于关节空间运动插值方程的选择,运动插值方程代表着机器人从初始位置到终止位置的移动代价。本课题选用PUMA560工业机器人为研究对象,对工业机器人在空间点到点(PTP)运动过程中关节空间运动插值方程的性质做了详细的研究,主要研究内容如下:首先,本文从工业机器人轨迹规划的数学基础入手,介绍了工业机器人空间位姿表示方法、工业机器人D-H参数数学建模法和一般的关节空间轨迹规划方法。其次,本文在研究一般关节空间插值函数的基础上提出一种新型的关节空间插值函数:误差函数(正态分布函数的不定积分)。使用误差函数在关节空间对机器人角位移函数进行插值,使机器人在运动过程中角速度呈正态分布,从而大大减少工业机器人在空间两点间运动时加速和减速的时间,在满足工业机器人运动学和动力学要求的基础上,提高了机器人的运动效率。然后,对提出的新型插值函数进行参数设计。依据“3σ”原则对正态分布函数进行参数设计,求其不定积分得到角位移插值函数(误差函数),再根据插值函数的性质对误差函数进行校正,得到角位移插值函数的一般形式。最后,使用MATLAB与ADAMS软件进行联合仿真。对高次多项式插值法和正态分布函数插值法分别进行仿真模拟,分析对比不同插值函数对PUMA560工业机器人工作效率的影响。仿真结果表明:该机器人在空间任意两点之间运动时,在关节空间使用正态分布函数插值法比高次多项式插值法更能提高机器人的运动效率。
[Abstract]:Since the 21 century, a new round of industrial revolution with intelligent manufacturing as the core is quietly taking place. The industrial robot, as the core technology of intelligent manufacturing, has become an important symbol to measure the level of national manufacturing industry. Since Germany proposed "Industrial 4.0" and the United States "re-industrialization", on March 5, 2015, Premier Li Keqiang put forward the grand plan of "made in China 2025" for the first time in the "Government work report". Its aim is to improve the international competitiveness of China's manufacturing industry and seize the first opportunity in the new industrial revolution. After more than half a century of development, human beings have made a certain breakthrough in the core technology of industrial robots, and industrial robot technology has become increasingly mature. However, the problem of motion control and planning of industrial robots has always affected the rapid development of robot technology. For industrial robots, motion control and planning must be carried out in order to complete the corresponding tasks. It gives the working mode and the movement efficiency of the industrial robot system. Therefore, motion control and planning is the key technology of industrial robot research and development. The motion control and planning of industrial robot includes two parts: trajectory planning and path tracking. Trajectory planning is a long-term problem in motion control and planning. The trajectory planning of industrial robot depends to a great extent on the choice of motion interpolation equations in joint space. The motion interpolation equation represents the moving cost from the initial position to the terminal position of the robot. In this paper, PUMA560 industrial robot is chosen as the research object, and the properties of joint spatial motion interpolation equation in the process of point to point (PTP) motion of industrial robot are studied in detail. The main contents are as follows: first of all, Starting with the mathematical basis of industrial robot trajectory planning, this paper introduces the representation method of space position and pose of industrial robot, the mathematical modeling method of D-H parameter of industrial robot and the general joint space trajectory planning method. Secondly, on the basis of studying the general joint space interpolation function, a new joint space interpolation function, error function (indefinite integral of normal distribution function), is proposed in this paper. The angular displacement function of the robot is interpolated in the joint space by the error function, which makes the angular velocity of the robot normal distribution in the process of motion, thus greatly reducing the time of acceleration and deceleration of the industrial robot when it moves between two points in space. On the basis of meeting the requirements of kinematics and dynamics of industrial robots, the kinematic efficiency of robots is improved. Then, the parameter design of the proposed new interpolation function is carried out. According to the principle of "3 蟽", the parameter design of normal distribution function is carried out, and the angular displacement interpolation function (error function) is obtained by the indefinite integral. Then the error function is corrected according to the property of the interpolation function, and the general form of the angular displacement interpolation function is obtained. Finally, MATLAB and ADAMS software are used for joint simulation. The high order polynomial interpolation method and the normal distribution function interpolation method are simulated, respectively, and the effects of different interpolation functions on the working efficiency of PUMA560 industrial robot are analyzed and compared. The simulation results show that when the robot moves between any two points in space, the normal distribution function interpolation method in joint space can improve the robot's motion efficiency more than the higher order polynomial interpolation method.
【学位授予单位】：兰州理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

【相似文献】