基于DSP的焊装机器人控制算法研究与仿真设计
发布时间：2019-02-20 09:59
【摘要】：机器人应用于工业生产的各个领域,在当今社会日益自动化、信息化的趋势下,研究六自由度焊接机器人的控制算法及在DSP上的实现,具有深刻的现实意义。在汽车车身焊接工艺中,要求焊装机器人实现车身部件的各类焊接操作,其对机器人的实时控制要求最为迫切。本文在研究单台六自由度焊装机器人动力学的基础上,研究了实现其关节电机控制的实时性算法,最优化焊接操作路径,实现了DSP与上位机通信互联,并在MATLAB软件下对算法进行仿真设计,将其应用于实际生产现场的离线虚拟调试,取得了一定的效果。首先,本文针对六自由度焊接机器人应用领域和研究背景做了相关介绍,指出要在DSP上实现对机器人关节电机的控制,必须研究六自由度焊装机器人的逆动力学控制算法并进行仿真设计。其次,针对六自由度焊装机器人控制实时性问题,利用TMS320LF2812型DSP芯片,通过其高速数字信号处理能力,实时对焊接机器人进行动力学方程逆运算,以求解控制模型的前馈补偿,并以C语言对算法进行编程,从而实现算法的可用性。研究了应用DSP片上资源实现机器人关节电机控制的PWM控制算法。通过DSP片上微控制系统生成了机器人各轴关节电机的实时PWM控制波形,利用所生成的控制波形进行典型的圆弧路径插补运动。利用DSP片上微控制系统对关节电机编码器信号进行实时处理,实现模型的反馈输入,提高对各轴关节电机控制的实时精度。再次,在研究了DSP片上微控制系统控制机器人各关节电机实现轨迹插补的基础上,进行机器人点位/连续运动时轨迹规划,在DSP片上微控制系统上对算法进行仿真设计,并优化路径以使工艺过程能量最优,在引入了机器人实际生产环境等各类约束条件下,求解满足一定效费比的最优工作路径,并给出了20个焊点以及路径点的最优坐标值。最后,对DSP片上微控制系统与上位机的串口通信进行了实验验证,对二次曲面的插补路径跟踪进行了仿真设计。验证了DSP对机器人各关节电机进行实时控制所需串口通信,同时验证了DSP求解机器人逆动力学算法的可行性。在仿真设计中,在MATLAB仿真环境下建立了机器人杆系模型,在西门子PLM软件Process Simulate下建立了机器人实物模型,利用所建立的机器人杆系模型与DSP所生产的PWM波控制机器人进行插补运动,验证了基于DSP的机器人关节电机控制算法。
[Abstract]:The robot is applied in every field of industrial production. Under the trend of automation and information, it is of great practical significance to study the control algorithm of 6-DOF welding robot and its realization on DSP. In the automobile body welding process, the welding robot is required to realize all kinds of welding operation of the body parts, and the real-time control of the robot is the most urgent. Based on the study of dynamics of a single six-degree-of-freedom welding robot, the real-time control algorithm of joint motor is studied, the welding operation path is optimized, and the communication between DSP and upper computer is realized. The algorithm is simulated and designed in MATLAB software, and it is applied to the off-line virtual debugging of actual production site, and some results are obtained. Firstly, this paper introduces the application field and research background of six-degree-of-freedom welding robot, and points out that the control of robot joint motor should be realized on DSP. The inverse dynamic control algorithm of six degrees of freedom welding robot must be studied and simulated. Secondly, aiming at the real-time control problem of six degrees of freedom welding robot, by using TMS320LF2812 DSP chip and its high-speed digital signal processing ability, the dynamic equations of welding robot are inversed in real time to solve the feedforward compensation of the control model. The algorithm is programmed in C language to realize the usability of the algorithm. The PWM control algorithm of robot joint motor control based on DSP is studied. The real-time PWM control waveform of each axis joint motor of the robot is generated by the DSP chip microcontrol system, and the typical arc path interpolation motion is carried out by using the generated control waveform. The signal of joint motor encoder is processed in real time by using DSP chip micro control system to realize the feedback input of the model and improve the real time precision of the control of each shaft joint motor. Thirdly, on the basis of studying the trajectory interpolation of each joint motor of the robot controlled by the micro-control system on the DSP chip, the trajectory planning of the robot point position / continuous motion is carried out, and the algorithm is simulated and designed on the DSP chip micro-control system. In order to optimize the process energy, the optimal working path satisfying a certain cost efficiency ratio is solved under various constraints such as the actual production environment of the robot, and the optimal coordinates of 20 solder joints and path points are given. Finally, the serial communication between the DSP microcontroller system and the host computer is verified experimentally, and the interpolation path tracking of the Quadric surface is simulated and designed. The serial communication required by DSP for real-time control of robot joint motor is verified, and the feasibility of solving the inverse dynamics algorithm of robot by DSP is verified at the same time. In the simulation design, the robot rod model is established under the MATLAB simulation environment, and the robot real object model is established under the Siemens PLM software Process Simulate. By using the established robot bar model and the PWM wave control robot produced by DSP to interpolate the motion, the robot joint motor control algorithm based on DSP is verified.
【学位授予单位】：重庆理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242
本文编号：2427072
[Abstract]:The robot is applied in every field of industrial production. Under the trend of automation and information, it is of great practical significance to study the control algorithm of 6-DOF welding robot and its realization on DSP. In the automobile body welding process, the welding robot is required to realize all kinds of welding operation of the body parts, and the real-time control of the robot is the most urgent. Based on the study of dynamics of a single six-degree-of-freedom welding robot, the real-time control algorithm of joint motor is studied, the welding operation path is optimized, and the communication between DSP and upper computer is realized. The algorithm is simulated and designed in MATLAB software, and it is applied to the off-line virtual debugging of actual production site, and some results are obtained. Firstly, this paper introduces the application field and research background of six-degree-of-freedom welding robot, and points out that the control of robot joint motor should be realized on DSP. The inverse dynamic control algorithm of six degrees of freedom welding robot must be studied and simulated. Secondly, aiming at the real-time control problem of six degrees of freedom welding robot, by using TMS320LF2812 DSP chip and its high-speed digital signal processing ability, the dynamic equations of welding robot are inversed in real time to solve the feedforward compensation of the control model. The algorithm is programmed in C language to realize the usability of the algorithm. The PWM control algorithm of robot joint motor control based on DSP is studied. The real-time PWM control waveform of each axis joint motor of the robot is generated by the DSP chip microcontrol system, and the typical arc path interpolation motion is carried out by using the generated control waveform. The signal of joint motor encoder is processed in real time by using DSP chip micro control system to realize the feedback input of the model and improve the real time precision of the control of each shaft joint motor. Thirdly, on the basis of studying the trajectory interpolation of each joint motor of the robot controlled by the micro-control system on the DSP chip, the trajectory planning of the robot point position / continuous motion is carried out, and the algorithm is simulated and designed on the DSP chip micro-control system. In order to optimize the process energy, the optimal working path satisfying a certain cost efficiency ratio is solved under various constraints such as the actual production environment of the robot, and the optimal coordinates of 20 solder joints and path points are given. Finally, the serial communication between the DSP microcontroller system and the host computer is verified experimentally, and the interpolation path tracking of the Quadric surface is simulated and designed. The serial communication required by DSP for real-time control of robot joint motor is verified, and the feasibility of solving the inverse dynamics algorithm of robot by DSP is verified at the same time. In the simulation design, the robot rod model is established under the MATLAB simulation environment, and the robot real object model is established under the Siemens PLM software Process Simulate. By using the established robot bar model and the PWM wave control robot produced by DSP to interpolate the motion, the robot joint motor control algorithm based on DSP is verified.
【学位授予单位】：重庆理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242
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