本文關(guān)鍵詞： 開放式 四元數(shù) 控制系統(tǒng) 裝箱　出處：《江南大學(xué)》2015年碩士論文　論文類型：學(xué)位論文

【摘要】：機(jī)器人作為一種先進(jìn)的制造裝備,已經(jīng)被廣泛應(yīng)用于各個行業(yè)。在機(jī)器人的研發(fā)與設(shè)計(jì)過程中,機(jī)器人控制系統(tǒng)的研究與開發(fā)一直是人們探討的熱點(diǎn)之一。作為工業(yè)機(jī)器人的一種,包裝機(jī)器人在包裝行業(yè)的應(yīng)用非常廣泛,主要包括裝箱機(jī)器人,搬運(yùn)機(jī)器人,碼垛機(jī)器人,裝袋機(jī)器人,灌裝機(jī)器人等。包裝機(jī)器人的廣泛應(yīng)用大幅降低人力資源的消耗,而且在惡劣環(huán)境中,能夠降低操作安全風(fēng)險,同時,提高包裝的質(zhì)量與操作穩(wěn)定性,從而提高效率。本文選擇五自由度機(jī)器人作為裝箱機(jī)器人研究對象,開發(fā)了基于運(yùn)動控制器的機(jī)器人控制系統(tǒng),最終將其應(yīng)用于FANUC LR MATE100i五自由度機(jī)器人上,并實(shí)現(xiàn)了對其的控制。主要研究內(nèi)容如下:首先,本文為實(shí)現(xiàn)對食品,香煙,藥品等輕質(zhì)量物件的裝箱操作,分析現(xiàn)有不同自由度機(jī)器人各自的用途與特點(diǎn),選擇五自由度機(jī)器人作為裝箱機(jī)器人研究對象,設(shè)計(jì)開放式控制系統(tǒng)總體方案,選用GUC-T系列的運(yùn)動控制器進(jìn)行系統(tǒng)運(yùn)動學(xué)計(jì)算及軌跡規(guī)劃,采用CDHD系列的伺服驅(qū)動器驅(qū)動電機(jī),在此基礎(chǔ)上,為裝箱機(jī)器人控制系統(tǒng)設(shè)計(jì)控制柜外形尺寸及總電路圖。隨后,對裝箱機(jī)器人進(jìn)行了運(yùn)動學(xué)分析,運(yùn)用D-H法則建立了機(jī)器人運(yùn)動學(xué)模型,并對機(jī)器人運(yùn)動學(xué)正反解進(jìn)行了求解。在此基礎(chǔ)上,對機(jī)器人笛卡爾空間的軌跡規(guī)劃進(jìn)行研究,實(shí)現(xiàn)了機(jī)器人笛卡爾空間的空間直線插補(bǔ)運(yùn)動及空間圓弧插補(bǔ)運(yùn)動。針對歐拉角姿態(tài)表示方式存在奇異性以及姿態(tài)過渡不平穩(wěn)的問題,采用四元數(shù)表示機(jī)器人姿態(tài),并提出機(jī)器人姿態(tài)四元數(shù)直接逆解的方法,舍去姿態(tài)四元數(shù)需轉(zhuǎn)化為姿態(tài)矩陣的過程,簡化計(jì)算過程,提高了程序的運(yùn)行效率,并驗(yàn)證了算法的正確性。然后,運(yùn)用運(yùn)動控制器提供的Otostudio軟件開發(fā)工具為五自由度機(jī)器人控制系統(tǒng)開發(fā)軟件,將軟件分為初始化模塊、示教模塊、再現(xiàn)模塊、運(yùn)動控制模塊、信息反饋模塊、文件管理模塊六大模塊及圖形化人機(jī)交互界面,實(shí)現(xiàn)了各模塊所需完成的功能,同時,為控制系統(tǒng)軟件設(shè)計(jì)了人機(jī)交互界面。最后,將機(jī)器人控制系統(tǒng)運(yùn)用于FANUC LR MATE 100i五自由度機(jī)器人上,實(shí)現(xiàn)了對機(jī)器人的控制,并運(yùn)用FARO激光跟蹤儀采用幾何方法對機(jī)器人進(jìn)行角度測量,得出機(jī)器人各關(guān)節(jié)轉(zhuǎn)動一圈所發(fā)脈沖的數(shù)目,并加以修正,最終實(shí)現(xiàn)了FANUC機(jī)器人在笛卡爾空間的直線運(yùn)動及空間圓弧運(yùn)動,并成功完成物流線上小包裝件的裝箱操作。
[Abstract]:As an advanced manufacturing equipment, robot has been widely used in various industries, in the development and design of robots. The research and development of robot control system has been one of the hot topics. As a kind of industrial robot, packaging robot is widely used in packaging industry, including packing robot. Handling robot, palletizing robot, bagging robot, filling robot and so on. The extensive application of packaging robot greatly reduces the human resource consumption, and in the bad environment, can reduce the operation safety risk, at the same time. In order to improve the quality and operation stability of packaging and improve efficiency, a robot control system based on motion controller is developed in this paper. Finally, it is applied to FANUC LR MATE100i five-degree-of-freedom robot, and its control is realized. The main research contents are as follows: firstly, this paper aims to realize the realization of food and cigarette. The paper analyzes the use and characteristics of the existing robots with different degrees of freedom, selects the five-degree-of-freedom robot as the research object of the packing robot, and designs the general scheme of the open control system. The motion controller of GUC-T series is used to calculate the system kinematics and trajectory planning, and the servo driver of CDHD series is used to drive the motor. Then, the kinematics analysis of the boxed robot is carried out, and the kinematics model of the robot is established by using D-H rule. On the basis of this, the trajectory planning of the robot in Cartesian space is studied. The motion of space linear interpolation and space arc interpolation of robot in Cartesian space is realized, and the singularity and unsteady attitude transition of Euler angle attitude are discussed. The quaternion is used to express the attitude of the robot, and the method of direct inverse solution of the quaternion of the robot attitude is proposed. The process of converting the quaternion of the attitude to the attitude matrix is proposed, which simplifies the calculation process and improves the running efficiency of the program. And verify the correctness of the algorithm. Then, using the motion controller provided by the Otostudio software development tools for the five-degree-of-freedom robot control system development software, the software is divided into initialization module. Teaching module, reproduction module, motion control module, information feedback module, file management module six modules and graphical man-machine interface, achieve the required functions of each module, at the same time. The human-computer interface is designed for the control system software. Finally, the robot control system is applied to FANUC LR MATE 100i five-degree-of-freedom robot to realize the control of the robot. The FARO laser tracker is used to measure the angle of the robot, and the number of pulses produced by the rotation of each joint of the robot is obtained and corrected. Finally, the linear motion and circular arc movement of FANUC robot in Cartesian space are realized, and the packing operation of small package on the logistics line is successfully completed.
【學(xué)位授予單位】：江南大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：TP242

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