基于关节型测量机引导的机器人示教方法研究

发布时间：2018-02-06 05:53

本文关键词： 关节型测量机机器人标定位形分析点到点示教曲线曲面示教　出处：《安徽工程大学》2017年硕士论文　论文类型：学位论文

【摘要】：工业机器人的种类越来越多,机器人示教方法也逐渐日趋复杂化,严重影响了企业的工作效率,增加了作业成本,导致企业生产力与生产关系的冲突越来越大,关节型测量机作为逆向设计过程中必备的装备,结构与六自由度机器人相近,测量精度高、数据处理方便。因此,本文拟提出采用关节型测量机引导机器人示教方法,提取对象多个特征,导入至机器人系统,这种示教方法操作简单,能够快速实现机器人的示教。首先,借鉴了机器人运动学的研究成果,详细分析了关节型测量机的结构特征,基于功能相似,示教简单,便于携带的原则,构建了基于关节型测量机引导机器人的示教方案,优化了传统的示教方法。其次,采用坐标齐次变换方法,建立了机器人与测量机的运动模型,完成了机器人与测量机系统之间的矩阵转换;采用几何作图法与解析法,完成了机器人与测量机的位形分析,推导了位形的判定公式;基于示教再现原理,论述了避免奇异的方法,解决了奇异值存在的情况。最后,采用插补算法,分析了关节型测量机引导机器人点到点、圆弧的示教方式;采用曲线曲面的非均匀有理B样条算法,实现了曲线曲面的示教方式,进一步验证了基于关节型测量机引导的机器人示教方法的研究成果。上述研究内容实现了基于关节型测量机引导的机器人示教方法,为进一研究机器人的示教提供了理论基础。
[Abstract]:There are more and more kinds of industrial robots, and the teaching methods of robots are becoming more and more complicated, which seriously affects the efficiency of enterprises, increases the cost of activities, and leads to more and more conflicts between the productivity and the relations of production. As the necessary equipment in the reverse design process, the joint measuring machine is similar to the six-degree-of-freedom robot with high measuring accuracy and convenient data processing. In this paper, a robot teaching method guided by joint measuring machine is proposed to extract many features of objects and import them into robot system. This teaching method is easy to operate and can be used to teach robot quickly. First of all. Referring to the research results of robot kinematics, the structural characteristics of joint measuring machine are analyzed in detail. Based on the principle of similar function, simple teaching and easy to carry. The teaching scheme of robot guided by joint measuring machine is constructed, and the traditional teaching method is optimized. Secondly, the kinematic model of robot and measuring machine is established by using coordinate homogeneous transformation method. The matrix conversion between the robot and the measuring machine system is completed. The configuration analysis of the robot and the measuring machine is completed by using the geometric drawing method and the analytic method, and the determination formula of the configuration is deduced. Based on the principle of teaching reproduction, the method of avoiding singularity is discussed, and the existence of singular value is solved. Finally, by using interpolation algorithm, the pointing to point and arc teaching mode of robot guided by joint measuring machine is analyzed. The teaching method of curve and surface is realized by using the nonuniform rational B-spline algorithm of curve and surface. The research results of robot teaching method based on joint measuring machine guidance are further verified. The above research content realizes the robot teaching method based on joint type measuring machine guidance. It provides a theoretical basis for the further study of robot teaching.
【学位授予单位】：安徽工程大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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