多轴直角坐标机械手控制系统的研究与设计
发布时间：2018-10-29 21:33
【摘要】：多轴直角坐标机械手广泛应用于搬运、装配、焊机、涂胶等工业领域,有着广阔的发展前景。对直角坐标机械手的控制涉及到多个方面的内容,需要保证控制系统的稳定性、控制精度等。本文针对直角坐标机械手的控制做了相应的研究与设计,主要包括控制系统总体架构设计,机械手轨迹规划研究,机械手速度规划及加减速度控制研究以及系统的软硬件设计。本文主要包含三个部分内容,第一部分具体分析了常见运动控制系统控制架构,并设计了"触摸屏+专用多轴运动控制器+伺服驱动系统"的直角坐标机械手控制系统架构。第二部分重点研究了直角坐标机械手轨迹规划问题。分析了 Bezier曲线拟合算法及其优缺点,在其基础上研究了反算控制的B样条曲线拟合算法,通过仿真实验验证了该算法能够克服Bezier曲线算法的不具备局部性的缺点,满足直角坐标机械手的轨迹控制要求;此外还研究了直角坐标机械手在三维空间中的插补控制算法包括空间直线插补和空间矢量圆弧插补,仿真验证了算法的有效性,为机械手的实际控制提供了理论基础。第三部分具体分析了常见加减速算法模型的优缺点,以梯形加减速模型为基础,结合前瞻控制思想,提出了机械手连续小线段路径速度规划方法,并通过仿真验证该算法提高了机械手平台的运行效率。另外基于S型加减速模型,提出一种预加减速策略,保证直角坐标机械手在加工路径的起点和终点速度保持为给定的工艺加工速度;并且给出了多段连续加工路径衔接点处速度规划策略,经仿真验证表明该控制策略能够保证路径连接点速度保持为工艺加工设定速度,从而改善机械手加工效果,降低对机械手平台的冲击,该控制方法简单高效,具有很高的实用价值。本文最后对直角坐标机械手软硬件设计做了说明。介绍了驱动器信号接线、I/O接线、伺服驱动器设置。给出了多轴运动控制器程序包括主程序、回原点程序、示教程序设计流程,并设计了机械手触摸屏控制界面。
[Abstract]:Multi-axis Cartesian manipulator is widely used in industrial fields such as handling, assembling, welding machine, glue coating and so on. The control of Cartesian manipulator involves many aspects, so it is necessary to ensure the stability and precision of the control system. This paper studies and designs the control of Cartesian manipulators, including the overall architecture of the control system, the trajectory planning of the manipulator, the speed planning and the speed control of the manipulator, as well as the software and hardware design of the system. This paper mainly includes three parts. In the first part, the control architecture of common motion control system is analyzed in detail, and the control system architecture of "multi-axis motion controller servo drive system for touch screen" is designed. The second part focuses on the trajectory planning of rectangular manipulator. Based on the analysis of Bezier curve fitting algorithm and its advantages and disadvantages, the B-spline curve fitting algorithm of inverse control is studied. The simulation results show that the algorithm can overcome the shortcoming of Bezier curve algorithm without locality. Meet the trajectory control requirements of Cartesian manipulator; In addition, the interpolation control algorithms of Cartesian manipulators in three-dimensional space are studied, including spatial linear interpolation and space vector circular arc interpolation. The simulation results show the validity of the algorithm and provide a theoretical basis for the practical control of the manipulator. In the third part, the advantages and disadvantages of common acceleration and deceleration algorithm models are analyzed in detail. Based on trapezoidal acceleration and deceleration model, a path speed planning method for continuous small segment of manipulator is proposed, which is based on trapezoidal acceleration and deceleration model and combined with the idea of forward looking control. The simulation results show that the algorithm improves the efficiency of the manipulator platform. In addition, based on the S-type acceleration and deceleration model, a pre-acceleration and deceleration strategy is proposed to ensure that the starting and ending speeds of the Cartesian manipulator are kept at the given processing speed. The speed planning strategy at the junction point of multi-segment continuous machining path is given. The simulation results show that the control strategy can ensure that the velocity of the path connecting point can be kept as the set speed of the process, thus improving the machining effect of the manipulator. The control method is simple and efficient and has high practical value. Finally, the software and hardware design of rectangular manipulator is explained. The driver signal connection, I / O connection and servo driver setting are introduced. The program of the multi-axis motion controller includes the main program, the program of returning the origin, the design flow of the teaching program, and the control interface of the touch screen of the manipulator.
【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】：TP273;TP241
本文编号：2298891
[Abstract]:Multi-axis Cartesian manipulator is widely used in industrial fields such as handling, assembling, welding machine, glue coating and so on. The control of Cartesian manipulator involves many aspects, so it is necessary to ensure the stability and precision of the control system. This paper studies and designs the control of Cartesian manipulators, including the overall architecture of the control system, the trajectory planning of the manipulator, the speed planning and the speed control of the manipulator, as well as the software and hardware design of the system. This paper mainly includes three parts. In the first part, the control architecture of common motion control system is analyzed in detail, and the control system architecture of "multi-axis motion controller servo drive system for touch screen" is designed. The second part focuses on the trajectory planning of rectangular manipulator. Based on the analysis of Bezier curve fitting algorithm and its advantages and disadvantages, the B-spline curve fitting algorithm of inverse control is studied. The simulation results show that the algorithm can overcome the shortcoming of Bezier curve algorithm without locality. Meet the trajectory control requirements of Cartesian manipulator; In addition, the interpolation control algorithms of Cartesian manipulators in three-dimensional space are studied, including spatial linear interpolation and space vector circular arc interpolation. The simulation results show the validity of the algorithm and provide a theoretical basis for the practical control of the manipulator. In the third part, the advantages and disadvantages of common acceleration and deceleration algorithm models are analyzed in detail. Based on trapezoidal acceleration and deceleration model, a path speed planning method for continuous small segment of manipulator is proposed, which is based on trapezoidal acceleration and deceleration model and combined with the idea of forward looking control. The simulation results show that the algorithm improves the efficiency of the manipulator platform. In addition, based on the S-type acceleration and deceleration model, a pre-acceleration and deceleration strategy is proposed to ensure that the starting and ending speeds of the Cartesian manipulator are kept at the given processing speed. The speed planning strategy at the junction point of multi-segment continuous machining path is given. The simulation results show that the control strategy can ensure that the velocity of the path connecting point can be kept as the set speed of the process, thus improving the machining effect of the manipulator. The control method is simple and efficient and has high practical value. Finally, the software and hardware design of rectangular manipulator is explained. The driver signal connection, I / O connection and servo driver setting are introduced. The program of the multi-axis motion controller includes the main program, the program of returning the origin, the design flow of the teaching program, and the control interface of the touch screen of the manipulator.
【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】：TP273;TP241
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