基于正態(tài)分布函數(shù)的工業(yè)機器人軌跡規(guī)劃及仿真分析
發(fā)布時間：2018-08-07 07:55
【摘要】：進入二十一世紀以來,以智能制造為核心的新一輪工業(yè)革命正在悄然發(fā)生。發(fā)達國家均將制造業(yè)升級作為工業(yè)改革的首要任務,而工業(yè)機器人作為智能制造的核心技術,已成為衡量國家制造業(yè)水平的重要標志。自德國提出“工業(yè)4.0”以及美國“再工業(yè)化”之后,2015年3月5日李克強總理在《政府工作報告》中首次提出“中國制造2025”的宏偉計劃。其目的就是為了提高中國制造業(yè)的國際競爭力,在新一輪工業(yè)革命中占領先機。經(jīng)過半個多世紀的發(fā)展,人類在工業(yè)機器人核心技術上已取得了一定的突破,工業(yè)機器人技術也已日趨成熟,但工業(yè)機器人運動控制與規(guī)劃問題一直影響著機器人技術的快速發(fā)展,對于工業(yè)機器人而言,要完成相應的工作任務,就必須進行運動控制與規(guī)劃,它給定了工業(yè)機器人系統(tǒng)的工作方式及其運動效率。所以,運動控制與規(guī)劃是工業(yè)機器人研發(fā)的關鍵技術所在。工業(yè)機器人運動控制與規(guī)劃又包含了軌跡規(guī)劃與路徑跟蹤兩個部分。而軌跡規(guī)劃又是運動控制與規(guī)劃研究中一個長期存在的問題。工業(yè)機器人軌跡規(guī)劃的優(yōu)劣很大程度上取決于關節(jié)空間運動插值方程的選擇,運動插值方程代表著機器人從初始位置到終止位置的移動代價。本課題選用PUMA560工業(yè)機器人為研究對象,對工業(yè)機器人在空間點到點(PTP)運動過程中關節(jié)空間運動插值方程的性質(zhì)做了詳細的研究,主要研究內(nèi)容如下:首先,本文從工業(yè)機器人軌跡規(guī)劃的數(shù)學基礎入手,介紹了工業(yè)機器人空間位姿表示方法、工業(yè)機器人D-H參數(shù)數(shù)學建模法和一般的關節(jié)空間軌跡規(guī)劃方法。其次,本文在研究一般關節(jié)空間插值函數(shù)的基礎上提出一種新型的關節(jié)空間插值函數(shù):誤差函數(shù)(正態(tài)分布函數(shù)的不定積分)。使用誤差函數(shù)在關節(jié)空間對機器人角位移函數(shù)進行插值,使機器人在運動過程中角速度呈正態(tài)分布,從而大大減少工業(yè)機器人在空間兩點間運動時加速和減速的時間,在滿足工業(yè)機器人運動學和動力學要求的基礎上,提高了機器人的運動效率。然后,對提出的新型插值函數(shù)進行參數(shù)設計。依據(jù)“3σ”原則對正態(tài)分布函數(shù)進行參數(shù)設計,求其不定積分得到角位移插值函數(shù)(誤差函數(shù)),再根據(jù)插值函數(shù)的性質(zhì)對誤差函數(shù)進行校正,得到角位移插值函數(shù)的一般形式。最后,使用MATLAB與ADAMS軟件進行聯(lián)合仿真。對高次多項式插值法和正態(tài)分布函數(shù)插值法分別進行仿真模擬,分析對比不同插值函數(shù)對PUMA560工業(yè)機器人工作效率的影響。仿真結(jié)果表明:該機器人在空間任意兩點之間運動時,在關節(jié)空間使用正態(tài)分布函數(shù)插值法比高次多項式插值法更能提高機器人的運動效率。
[Abstract]:Since the 21 century, a new round of industrial revolution with intelligent manufacturing as the core is quietly taking place. The industrial robot, as the core technology of intelligent manufacturing, has become an important symbol to measure the level of national manufacturing industry. Since Germany proposed "Industrial 4.0" and the United States "re-industrialization", on March 5, 2015, Premier Li Keqiang put forward the grand plan of "made in China 2025" for the first time in the "Government work report". Its aim is to improve the international competitiveness of China's manufacturing industry and seize the first opportunity in the new industrial revolution. After more than half a century of development, human beings have made a certain breakthrough in the core technology of industrial robots, and industrial robot technology has become increasingly mature. However, the problem of motion control and planning of industrial robots has always affected the rapid development of robot technology. For industrial robots, motion control and planning must be carried out in order to complete the corresponding tasks. It gives the working mode and the movement efficiency of the industrial robot system. Therefore, motion control and planning is the key technology of industrial robot research and development. The motion control and planning of industrial robot includes two parts: trajectory planning and path tracking. Trajectory planning is a long-term problem in motion control and planning. The trajectory planning of industrial robot depends to a great extent on the choice of motion interpolation equations in joint space. The motion interpolation equation represents the moving cost from the initial position to the terminal position of the robot. In this paper, PUMA560 industrial robot is chosen as the research object, and the properties of joint spatial motion interpolation equation in the process of point to point (PTP) motion of industrial robot are studied in detail. The main contents are as follows: first of all, Starting with the mathematical basis of industrial robot trajectory planning, this paper introduces the representation method of space position and pose of industrial robot, the mathematical modeling method of D-H parameter of industrial robot and the general joint space trajectory planning method. Secondly, on the basis of studying the general joint space interpolation function, a new joint space interpolation function, error function (indefinite integral of normal distribution function), is proposed in this paper. The angular displacement function of the robot is interpolated in the joint space by the error function, which makes the angular velocity of the robot normal distribution in the process of motion, thus greatly reducing the time of acceleration and deceleration of the industrial robot when it moves between two points in space. On the basis of meeting the requirements of kinematics and dynamics of industrial robots, the kinematic efficiency of robots is improved. Then, the parameter design of the proposed new interpolation function is carried out. According to the principle of "3 蟽", the parameter design of normal distribution function is carried out, and the angular displacement interpolation function (error function) is obtained by the indefinite integral. Then the error function is corrected according to the property of the interpolation function, and the general form of the angular displacement interpolation function is obtained. Finally, MATLAB and ADAMS software are used for joint simulation. The high order polynomial interpolation method and the normal distribution function interpolation method are simulated, respectively, and the effects of different interpolation functions on the working efficiency of PUMA560 industrial robot are analyzed and compared. The simulation results show that when the robot moves between any two points in space, the normal distribution function interpolation method in joint space can improve the robot's motion efficiency more than the higher order polynomial interpolation method.
【學位授予單位】：蘭州理工大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP242
[Abstract]:Since the 21 century, a new round of industrial revolution with intelligent manufacturing as the core is quietly taking place. The industrial robot, as the core technology of intelligent manufacturing, has become an important symbol to measure the level of national manufacturing industry. Since Germany proposed "Industrial 4.0" and the United States "re-industrialization", on March 5, 2015, Premier Li Keqiang put forward the grand plan of "made in China 2025" for the first time in the "Government work report". Its aim is to improve the international competitiveness of China's manufacturing industry and seize the first opportunity in the new industrial revolution. After more than half a century of development, human beings have made a certain breakthrough in the core technology of industrial robots, and industrial robot technology has become increasingly mature. However, the problem of motion control and planning of industrial robots has always affected the rapid development of robot technology. For industrial robots, motion control and planning must be carried out in order to complete the corresponding tasks. It gives the working mode and the movement efficiency of the industrial robot system. Therefore, motion control and planning is the key technology of industrial robot research and development. The motion control and planning of industrial robot includes two parts: trajectory planning and path tracking. Trajectory planning is a long-term problem in motion control and planning. The trajectory planning of industrial robot depends to a great extent on the choice of motion interpolation equations in joint space. The motion interpolation equation represents the moving cost from the initial position to the terminal position of the robot. In this paper, PUMA560 industrial robot is chosen as the research object, and the properties of joint spatial motion interpolation equation in the process of point to point (PTP) motion of industrial robot are studied in detail. The main contents are as follows: first of all, Starting with the mathematical basis of industrial robot trajectory planning, this paper introduces the representation method of space position and pose of industrial robot, the mathematical modeling method of D-H parameter of industrial robot and the general joint space trajectory planning method. Secondly, on the basis of studying the general joint space interpolation function, a new joint space interpolation function, error function (indefinite integral of normal distribution function), is proposed in this paper. The angular displacement function of the robot is interpolated in the joint space by the error function, which makes the angular velocity of the robot normal distribution in the process of motion, thus greatly reducing the time of acceleration and deceleration of the industrial robot when it moves between two points in space. On the basis of meeting the requirements of kinematics and dynamics of industrial robots, the kinematic efficiency of robots is improved. Then, the parameter design of the proposed new interpolation function is carried out. According to the principle of "3 蟽", the parameter design of normal distribution function is carried out, and the angular displacement interpolation function (error function) is obtained by the indefinite integral. Then the error function is corrected according to the property of the interpolation function, and the general form of the angular displacement interpolation function is obtained. Finally, MATLAB and ADAMS software are used for joint simulation. The high order polynomial interpolation method and the normal distribution function interpolation method are simulated, respectively, and the effects of different interpolation functions on the working efficiency of PUMA560 industrial robot are analyzed and compared. The simulation results show that when the robot moves between any two points in space, the normal distribution function interpolation method in joint space can improve the robot's motion efficiency more than the higher order polynomial interpolation method.
【學位授予單位】：蘭州理工大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP242
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