基于固高运控器的SCARA四轴机械臂路径规划研究

发布时间：2019-02-12 10:11

【摘要】：工业机器人的研发、制造、应用是衡量一个国家科技创新和高端制造业水平的重要标志,是实现中国制造2025的关键。工业机器人具有应用范围广、控制精度高、劳动力成本低等诸多优点。但是工业机器人在中国市场上还存在一些亟待解决的问题。受欧洲日本等发达国家技术垄断,工业机器人成本高,底层程序无法开发和移植,不能适应企业灵活多变的生产需求和对成本的控制要求。而路径规划算法是欧日等发达国家工业机器人软件上被垄断的技术核心之一。路径规划算法不可开发限制了企业生产过程的灵活性,导致中小加工企业引入机器人的成本增加。针对以上问题,本课题结合工业机械臂的正向、逆向运动学原理及直线和圆弧两种基本路径规划算法原理,在VS2010平台上用C++语言开发了相应的基于对话框的MFC程序,实现算法开发并在多种环境下做了详细的对比性仿真,该算法具有可移植性强,运算精度高等优点。然后自主研发了一台“工业PC+运动控制卡”开放式的SCARA四轴机械臂。结合几何法运动学分析原理,在固高公司的GTS-400-PV-G运动控制器上实现了PTP路径规划算法的底层开发,并成功运用在基于视觉引导的工作平台上,实时性好且具有可靠的精度和稳定性。本论文首先介绍了工业机器人的发展和研究动态,对机器人运动学和路径规划算法原理的理论知识做了详细的阐述。结合理论知识,主要研究了直线和圆弧两种路径规划算法在VS2010平台上的软件实现和仿真。然后介绍了自主设计研发的一台SCARA四轴机械臂,并给出了详细的硬件系统设计图和软件代码。最后讲解了三个基于机器视觉的SCARA四轴机械臂的应用案例。通过实验和仿真结果的分析表明,自主研发的工业机器人能达到视觉引导的精度要求且工作稳定性强,程序开发灵活,成本大幅降低,促进了工业机器人在中小加工企业的推广使用。
[Abstract]:The research and development, manufacture and application of industrial robots are the important symbols to measure the level of scientific and technological innovation and high-end manufacturing in a country, and the key to the realization of Chinese manufacturing 2025. Industrial robot has a wide range of applications, high control accuracy, low labor costs and many other advantages. But there are still some problems to be solved in the Chinese market. Due to the technology monopoly of developed countries such as Europe and Japan, the cost of industrial robots is high, and the underlying procedures can not be developed and transplanted to meet the flexible production requirements and cost control requirements of enterprises. The path planning algorithm is one of the core technologies of industrial robot software monopoly in developed countries such as Europe and Japan. The non-development of the path planning algorithm limits the flexibility of the production process and increases the cost of introducing robots into small and medium-sized processing enterprises. Aiming at the above problems, combining the forward and reverse kinematics principle of industrial manipulator and the two basic path planning algorithms of straight line and arc, the corresponding MFC program based on dialog box is developed on VS2010 platform with C language. The algorithm is developed and simulated in detail in various environments. The algorithm has the advantages of high portability and high precision. Then, we developed an open SCARA four-axis manipulator with an industrial PC motion control card. Combined with the principle of geometric kinematics analysis, the bottom development of PTP path planning algorithm is realized on the GTS-400-PV-G motion controller of Gugao Company, and it is successfully applied to the work platform based on vision guidance. Good real-time and reliable accuracy and stability. In this paper, the development and research trends of industrial robot are introduced, and the theoretical knowledge of robot kinematics and path planning algorithm is described in detail. Combined with theoretical knowledge, the software implementation and simulation of two path planning algorithms, straight line and arc, on VS2010 platform are studied. Then, a SCARA four-axis manipulator is designed and developed, and the detailed hardware system design and software code are given. Finally, three applications of SCARA four-axis manipulator based on machine vision are explained. Through the analysis of experiment and simulation results, it is shown that the self-developed industrial robot can meet the requirements of visual guidance accuracy, work stability, flexible program development, and greatly reduce the cost. Promote the promotion and use of industrial robots in small and medium-sized processing enterprises.
【学位授予单位】：华北电力大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242.2

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