六轴机器人仿真示教系统研究与实现

发布时间：2018-10-09 20:22

【摘要】：随着机器人的应用越来越广泛,所面对的工作环境越来越复杂,示教系统在机器人的使用操作中起着至关重要的作用。目前国内主流的六轴机器人多依靠进口,其示教系统多为封闭且难以二次开发。同时国内在机器人示教系统领域的研究也相对落后,而且欠缺能熟练操作机器人的技术型人才。因此本文研制一套六轴机器人仿真示教系统,将示教器连接计算机仿真平台,取代传统的与机器人相连的方式。该系统可以提供机器人的操作练习,还可以将其用于对示教系统的进一步研究。首先,对六轴机器人的运动学进行分析研究。采用D-H表示法建立运动学模型,推导并求解六轴机器人的正逆运动学方程,并研究了在多组逆解中选取最优解的问题,最后通过编程进行了仿真验证。其次,分析六轴机器人示教系统的使用需求,提出一种新型的机器人仿真示教器的总体设计方案。示教器的硬件设计是以STM32作为主控制器,兼容性好且便于移植,然后对以太网通信电路、键盘电路、触摸屏通信电路等进行了分析设计。在示教器的软件设计上引入了实时操作系统,保证了程序的稳定性和良好的开放性,并给出了主程序、以太网通信程序、键盘读取程序等流程图。该示教器可以通过以太网与计算机仿真平台进行连接,实现对三维仿真的机器人进行控制。在六轴机器人运动学模型的基础上,采用VC++和开放图形库(Open GL)搭建机器人的三维模型。将Solid Works生成的模型文件导入VC++环境中,保证了模型的逼真准确。该方法弥补了Open GL在绘制复杂图形时工作量大、开发效率低的缺陷和Solid Works软件编程接口开放性差的缺陷,大大提高了开发效率。轨迹规划是机器人运动控制的重要内容,本文分析了关节空间中的几种多项式插值规划法,对笛卡尔空间中三段S曲线的直线插补法进行改进,采用了五段S曲线规划法,使机器人末端的运行速度变化更平稳,并通过编程进行验证。最后分析机器人示教系统的控制流程,在计算机仿真平台上为机器人三维模型增加手动控制和示教再现等功能,使该仿真示教系统能够接近实际使用效果。并对机器人的碰撞检测问题进行研究,保证机器人的安全运行。实验结果表明,该仿真示教系统中的三维机器人模型构建准确且运行流畅,功能使用正常。该方法具有一定的开放性和可移植性,可以在此基础上对机器人示教系统进行进一步的研究,还可以为操作人员提供一个安全方便的操作练习平台。
[Abstract]:With the more and more extensive application of robot, the working environment is becoming more and more complex. Teaching system plays an important role in the operation of robot. At present, the mainstream six-axis robots mostly rely on imports, and their teaching systems are closed and difficult to be redeveloped. At the same time, the research in the field of robot teaching system is relatively backward, and lack of skilled robot technical personnel. Therefore, a six-axis robot simulation and teaching system is developed in this paper, which is connected with the computer simulation platform to replace the traditional way of connecting with the robot. The system can provide robot operation exercises and can be used to further study the teaching system. Firstly, the kinematics of six-axis robot is studied. The kinematics model is established by using D-H representation, and the forward and inverse kinematics equations of six-axis robot are deduced and solved. The problem of selecting the optimal solution in the multi-group inverse solution is studied. Finally, the simulation is carried out by programming. Secondly, the application requirement of the six-axis robot teaching system is analyzed, and a new design scheme of the robot simulation teacher is put forward. The hardware design of the teacher is based on STM32, which has good compatibility and is easy to transplant. Then, the Ethernet communication circuit, keyboard circuit and touch screen communication circuit are analyzed and designed. The real-time operating system is introduced into the software design of the teacher, which ensures the stability and good openness of the program. The flow chart of main program, Ethernet communication program and keyboard reading program is also given. The teacher can connect with the computer simulation platform through Ethernet to realize the control of the 3D simulation robot. Based on the kinematics model of six-axis robot, VC and (Open GL) are used to build the 3D model of robot. The model files generated by Solid Works are imported into VC environment to ensure the accuracy of the model. This method makes up for the defects of Open GL in drawing complex graphics, such as heavy workload, low development efficiency and poor opening of Solid Works software programming interface, and greatly improves the development efficiency. Trajectory planning is an important part of robot motion control. In this paper, several polynomial interpolation programming methods in joint space are analyzed. The linear interpolation method of three-segment S-curve in Cartesian space is improved, and the five-segment S-curve programming method is adopted. It makes the running speed of the robot end more stable and verified by programming. Finally, the control flow of the robot teaching system is analyzed, and the functions of manual control and teaching reappearance are added to the 3D model of the robot on the computer simulation platform, so that the simulation teaching system can approach the actual application effect. The collision detection problem of the robot is studied to ensure the safe operation of the robot. The experimental results show that the 3D robot model in the simulation teaching system is accurate and running smoothly, and the function is normal. This method has certain openness and portability, on the basis of which the robot teaching system can be further studied, and a safe and convenient operation platform can be provided for operators.
【学位授予单位】：江南大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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