基于EtherCAT通信协议的多自由度机器人控制仿真系统

发布时间：2018-03-07 21:05

本文选题：工业机器人　切入点：EtherCAT　出处：《山东大学》2017年硕士论文　论文类型：学位论文

【摘要】：工业机器人是面向工业领域的多关节机械手或多自由度的机器人。由于生产加工业向着自动化、智能化的方向发展,工业机器人的应用行业和范围一直在延伸,在人们的生活和生产中发挥了不可替代的作用。然而,用于高校的教学和培训的实体机器人却少之又少,不能满足学生对实体机器人操作的需求,这将影响高校开设机器人课程的教学效果。基于这种情况,对机器人虚拟仿真系统的开发就显得非常的关键。尽管目前许多研究者们在机器人的离线编程和虚拟仿真方面作了大量的工作,并且开发了一系列的仿真软件,但是存在着仿真软件与机器人产品配套、而不便应用于其他类型的机器人的局限性;另外,实体机器人价格高,操作不方便等问题对高校开设机器人课程也造成一些不便。本论文结合实际工业机器人教学培训的需求,论文综述了本课题研究的背景以及国内外工业机器人的发展现状,并且论述了机器人虚拟仿真系统的研究现状和研究的意义。接下来,分析研究了一种开放性的、国际标准的实时以太网EtherCAT通信协议在机器人虚拟仿真系统中的实现方法,通过搭建主从站、以及利用数据帧和报文寻址方式,完成对机器人的通信与控制。控制器系统通过EtherCAT协议建立了各种控制参数和命令的数据通信,建立工业机器人的控制通信系统架构。为了研究机器人运动轨迹规划和仿真跟踪,对机器人的运动学理论作了研究。首先讨论了物体在运动过程中的坐标变换,通过D-H参数法建立机器人连杆坐标系,得到各连杆参数,进而对机器人的运动学方程进行了求解。在机器人的轨迹规划方面,论文分析了关节空间中的三次多项式和五次多项式插值算法,笛卡尔空间中的直线轨迹插补算法和圆弧轨迹插补算法,并且通过MATLAB中的工具箱Robotics Toolbox利用五次多项式插值算法对机器人的轨迹规划进行了仿真。论文最后论述了工业机器人虚拟仿真系统的设计,该系统是以六自由度工业机器人为模型,以Unity 3D为开发平台,是基于EtherCAT的现场总线建立的一套机器人虚拟仿真系统,达到了机器人的运动仿真效果。虚拟仿真平台的软件部分是在Unity 3D的编译环境下,采用C#编程语言来设计的。该仿真系统主要实现的功能为:不仅使仿真软件中的机器人能够在控制命令的作用下单独的进行运动规划,真实再现机器人各运动关节,实现仿真模拟;而且通过控制实体机器人运动的同时实现仿真软件中的虚拟机器人运动,完成相同的运动轨迹,实现实时一致性。虚拟仿真软件和实体的机器人控制系统构成了本文的虚拟仿真系统,并对仿真系统进行了实验验证。实验结果表明,该仿真系统能够实现虚拟和现实机器人的同步运动,并且在运动的过程中虚拟和实体机器人的运动角度也是基本吻合的,可达到教学培训的需求。
[Abstract]:Industrial robots are multi-joint manipulators or multi-degree-of-freedom robots facing the industrial field. Due to the development of production and processing industry towards automation and intelligence, the application industry and scope of industrial robots have been extending. It has played an irreplaceable role in people's life and production. However, there are very few physical robots for teaching and training in colleges and universities, which cannot meet the needs of students for the operation of physical robots. This will affect the teaching effect of robot courses in colleges and universities. Although many researchers have done a lot of work in the field of robot off-line programming and virtual simulation, and developed a series of simulation software, However, there are limitations of simulation software matching with robot products, which is not suitable for other types of robots. In addition, the price of physical robots is high. Some problems, such as inconvenient operation, also cause some inconvenience to the course of robots in colleges and universities. In this paper, the background of the research and the development of industrial robots at home and abroad are summarized in combination with the needs of practical industrial robot teaching and training. The research status and significance of robot virtual simulation system are also discussed. Then, the implementation of an open and international standard real-time Ethernet EtherCAT communication protocol in robot virtual simulation system is analyzed. By building master and slave stations and using data frame and message addressing, the communication and control of the robot are accomplished. The controller system establishes the data communication of various control parameters and commands through EtherCAT protocol. The architecture of control communication system of industrial robot is established. In order to study the trajectory planning and simulation tracking of robot, the kinematics theory of robot is studied. Firstly, the coordinate transformation of object in the process of motion is discussed. The kinematics equations of the robot are solved by establishing the coordinate system of the connecting rod of the robot by D-H parameter method, and the kinematics equation of the robot is solved. In the aspect of the trajectory planning of the robot, the kinematics equation of the robot is solved. In this paper, the interpolation algorithms of cubic polynomial and quintic polynomial in joint space, linear trajectory interpolation algorithm in Cartesian space and arc trajectory interpolation algorithm are analyzed. And through the toolbox of MATLAB Robotics Toolbox, the fifth order polynomial interpolation algorithm is used to simulate the trajectory planning of the robot. Finally, the design of the virtual simulation system of industrial robot is discussed. The system is a virtual simulation system based on EtherCAT field bus, which is based on six degrees of freedom industrial robot model and Unity 3D development platform. The software part of the virtual simulation platform is based on the compiling environment of Unity 3D. The main functions of the simulation system are as follows: not only can the robot in the simulation software be able to carry out motion planning independently under the action of control command, but also the motion joints of the robot can be reproduced. By controlling the motion of the solid robot and realizing the virtual robot movement in the simulation software, the same motion trajectory can be achieved. The virtual simulation software and the robot control system of the entity constitute the virtual simulation system in this paper, and the simulation system is verified by experiments. The experimental results show that, The simulation system can realize the synchronous movement of virtual robot and real robot, and the motion angle of virtual robot and entity robot is basically consistent during the process of motion, which can meet the requirement of teaching and training.
【学位授予单位】：山东大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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