SCARA机器人标定及轨迹规划
发布时间：2018-09-10 14:22
【摘要】：目前随着自动化产业在我国不断的发展壮大,工业机器人的应用也愈加广泛。但是工业机器人产品面临的主要问题是绝对定位精度不高,从而在机器人的离线编程使用过程中会常产生机器人的运动定位不准确的问题,并且机器人中的一些简单形状的轨迹插补有时并不能满足使用要求。本文针对此问题以SCARA机器人为主要研究对象,对其运动学模型误差进行了标定及补偿,并进行了运动轨迹的规划。本文基于修正的D-H模型(MD-H模型)对SCARA机器人进行了运动学建模并求出了SCARA机器人的运动学正解及逆解。对SCARA机器人定位误差及旋转误差来源进行了分析,针对这两种误差及其来源分别建立了与其对应的标定模型及补偿算法。在定位误差的标定中建立了位置误差标定模型与距离误差标定模型。在使用位置误差标定模型对机器人进行标定时,首先需要测量机器人的基座标系然后对其进行拟合,以便后面在机器人的基座标系下测量机器人的位置误差,但是使用距离误差模型可以直接进行对机器人测量从而完成标定。在完成基于激光跟踪的定位误差标定研究后,又设计了一种更为方便快捷的基于四孔的位置误差标定方案。该方案中将一块四孔标定板放置在机器人的工作区域内,与固定在机器人末端执行器上的插棒相互配合从而可获得机器人的部分模型参数误差。在机器人的定位误差标定完成后,选择视觉系统作为测量工具来对机器人的旋转误差进行标定,同时发现采用视觉同样可以对定位误差进行标定且补偿后能够满足使用要求。针对SCARA机器人的运动特点,对其进行了轨迹规划。考虑到机器人控制中现有的几种简单形状的轨迹规划如:圆弧和直线规划等有时并不能满足使用要求,因为机器人在工作过程中运动轨迹可能是不规则形状或者具有某些复杂特征,于是决定采用NURBS曲线对机器人运动轨迹进行插补。在插补时基于S型速度控制曲完成了机器人的加减速控制,然后基于弓高误差对插补精度进行了控制并据此完成了插补速度的规划。
[Abstract]:At present, with the development of automation industry in China, the application of industrial robots is becoming more and more extensive. However, the main problem faced by industrial robot products is that the absolute positioning accuracy is not high, so the robot motion location is often inaccurate in the process of robot off-line programming. And some simple trajectory interpolation in robot sometimes can not meet the requirements. In order to solve this problem, the kinematics model error of SCARA robot is calibrated and compensated, and the trajectory planning is carried out. In this paper, based on the modified D-H model (MD-H model), the kinematics of SCARA robot is modeled and the forward and inverse kinematics solutions of SCARA robot are obtained. The source of positioning error and rotation error of SCARA robot is analyzed. The calibration model and compensation algorithm are established for the two kinds of errors and their sources. The calibration model of position error and the calibration model of distance error are established. When calibrating the robot with the position error calibration model, it is necessary to first measure the base system of the robot and then fit it so that the position error of the robot can be measured under the base system of the robot. However, the range error model can be used to measure the robot directly to complete the calibration. After completing the research of positioning error calibration based on laser tracking, a more convenient and fast calibration scheme of position error based on four holes is designed. In this scheme, a four-hole calibration plate is placed in the working area of the robot, and some model parameters error of the robot can be obtained by matching with the inserted rod fixed on the robot end actuator. After the positioning error calibration of the robot is completed, the vision system is chosen as the measuring tool to calibrate the robot rotation error, and it is found that the vision can also calibrate the positioning error and compensate it to meet the requirements of application. According to the motion characteristics of SCARA robot, trajectory planning is carried out. Considering that trajectory planning with several simple shapes available in robot control, such as arc and line planning, sometimes fails to meet the operational requirements, Because the robot motion trajectory may be irregular or has some complex characteristics in the working process, it is decided to use the NURBS curve to interpolate the robot motion trajectory. The acceleration and deceleration control of the robot is completed based on S-type velocity control curve in interpolation time, and then the interpolation accuracy is controlled based on the bow height error and the interpolation speed planning is completed accordingly.
【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
本文编号：2234701
[Abstract]:At present, with the development of automation industry in China, the application of industrial robots is becoming more and more extensive. However, the main problem faced by industrial robot products is that the absolute positioning accuracy is not high, so the robot motion location is often inaccurate in the process of robot off-line programming. And some simple trajectory interpolation in robot sometimes can not meet the requirements. In order to solve this problem, the kinematics model error of SCARA robot is calibrated and compensated, and the trajectory planning is carried out. In this paper, based on the modified D-H model (MD-H model), the kinematics of SCARA robot is modeled and the forward and inverse kinematics solutions of SCARA robot are obtained. The source of positioning error and rotation error of SCARA robot is analyzed. The calibration model and compensation algorithm are established for the two kinds of errors and their sources. The calibration model of position error and the calibration model of distance error are established. When calibrating the robot with the position error calibration model, it is necessary to first measure the base system of the robot and then fit it so that the position error of the robot can be measured under the base system of the robot. However, the range error model can be used to measure the robot directly to complete the calibration. After completing the research of positioning error calibration based on laser tracking, a more convenient and fast calibration scheme of position error based on four holes is designed. In this scheme, a four-hole calibration plate is placed in the working area of the robot, and some model parameters error of the robot can be obtained by matching with the inserted rod fixed on the robot end actuator. After the positioning error calibration of the robot is completed, the vision system is chosen as the measuring tool to calibrate the robot rotation error, and it is found that the vision can also calibrate the positioning error and compensate it to meet the requirements of application. According to the motion characteristics of SCARA robot, trajectory planning is carried out. Considering that trajectory planning with several simple shapes available in robot control, such as arc and line planning, sometimes fails to meet the operational requirements, Because the robot motion trajectory may be irregular or has some complex characteristics in the working process, it is decided to use the NURBS curve to interpolate the robot motion trajectory. The acceleration and deceleration control of the robot is completed based on S-type velocity control curve in interpolation time, and then the interpolation accuracy is controlled based on the bow height error and the interpolation speed planning is completed accordingly.
【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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