發(fā)布時(shí)間：2018-08-09 11:41

【摘要】：目前,工業(yè)機(jī)器人已成為現(xiàn)代制造業(yè)不可或缺的部分,對(duì)其軌跡規(guī)劃與跟蹤進(jìn)行研究很有必要。本文以庫卡機(jī)器人為載體,通過理論加仿真驗(yàn)證相結(jié)合的方式,對(duì)軌跡規(guī)劃與跟蹤進(jìn)行了深入研究。為了使機(jī)器人快速穩(wěn)定的對(duì)空間的目標(biāo)位置信息的獲取,在現(xiàn)有機(jī)器人模型上搭載雙目視覺系統(tǒng),為其控制提供目標(biāo)的隨機(jī)位置信息。軌跡規(guī)劃是軌跡跟蹤的基礎(chǔ),故先對(duì)機(jī)器人軌跡規(guī)劃進(jìn)行了研究與分析,然后在此基礎(chǔ)上對(duì)軌跡跟蹤展開了研究與分析。(1)對(duì)雙目視覺系統(tǒng)進(jìn)行了介紹,將雙目的空間定位功能運(yùn)用到機(jī)器人系統(tǒng)中。首先,通過分析相機(jī)的成像模型,得到了圖像坐標(biāo)系、相機(jī)坐標(biāo)系、世界坐標(biāo)系三者的關(guān)系,并對(duì)雙目相機(jī)系統(tǒng)進(jìn)行標(biāo)定;然后,分析了視覺機(jī)器人的坐標(biāo)變換關(guān)系,將視覺系統(tǒng)與機(jī)器人坐標(biāo)系進(jìn)行標(biāo)定;最后,利用C++構(gòu)建了標(biāo)定與空間點(diǎn)的坐標(biāo)變換的軟件平臺(tái)。(2)以庫卡6自由度機(jī)器人為研究對(duì)象,對(duì)其進(jìn)行DH坐標(biāo)系建模,推導(dǎo)了出運(yùn)動(dòng)學(xué)與動(dòng)力學(xué)方程。隨后,運(yùn)用MATLAB軟件對(duì)建立的模型進(jìn)行驗(yàn)證。在運(yùn)動(dòng)學(xué)的基礎(chǔ)上,對(duì)機(jī)器人在關(guān)節(jié)空間與笛卡爾空間下分別進(jìn)行軌跡規(guī)劃研究。為了讓機(jī)器人末端執(zhí)行器平滑的抓取隨機(jī)目標(biāo),選用三次樣條插值在笛卡爾空間對(duì)軌跡進(jìn)行規(guī)劃,并擬合出末端的軌跡。最后,運(yùn)用機(jī)器人工具箱對(duì)關(guān)節(jié)空間軌跡規(guī)劃進(jìn)行仿真,并繪制出各個(gè)關(guān)節(jié)角位置、速度、加速度與末端位置的軌跡,從理論上驗(yàn)證了仿真算法的正確性。(3)為了讓機(jī)器人末端執(zhí)行器平穩(wěn)無沖擊的跟蹤期望軌跡,在軌跡跟蹤控制算法中考慮其動(dòng)力學(xué)特性。首先,在動(dòng)力學(xué)模型基礎(chǔ)上對(duì)傳統(tǒng)的軌跡跟蹤算法進(jìn)行分析,提出反饋線性積分滑模算法,并用李雅普諾夫理論對(duì)其運(yùn)穩(wěn)定性進(jìn)行了分析,最后,用matlab軟件對(duì)上述算法分別進(jìn)行仿真,仿真結(jié)果驗(yàn)證了本研究提出的算法的可行性及其在跟蹤精度和響應(yīng)時(shí)間兩方面的優(yōu)勢。
[Abstract]:At present, industrial robot has become an indispensable part of modern manufacturing industry, so it is necessary to study its trajectory planning and tracking. In this paper, the trajectory planning and tracking are deeply studied by using Kuka robot as carrier and combining theory with simulation verification. In order to obtain the target position information of the space quickly and stably, the binocular vision system is mounted on the existing robot model to provide the random position information of the target for its control. Trajectory planning is the basis of trajectory tracking, so the trajectory planning of the robot is studied and analyzed firstly, and then the trajectory tracking is studied and analyzed. (1) the binocular vision system is introduced. The spatial positioning function of binocular is applied to robot system. Firstly, by analyzing the imaging model of the camera, the relationship among image coordinate system, camera coordinate system and world coordinate system is obtained, and the binocular camera system is calibrated, and then the coordinate transformation relationship of the vision robot is analyzed. The vision system and robot coordinate system are calibrated. Finally, the software platform of calibration and coordinate transformation of space points is constructed by using C. (2) the DH-coordinate system is modeled by taking Kuka 6-DOF robot as the research object. The kinematics and dynamics equations are derived. Then, the MATLAB software is used to verify the established model. On the basis of kinematics, trajectory planning of robot in joint space and Cartesian space is studied. In order to make the robot end effector grasp the random target smoothly, the cubic spline interpolation is used to plan the trajectory in Cartesian space, and the trajectory of the end is fitted. Finally, the robot toolbox is used to simulate the joint space trajectory planning, and the trajectory of each joint angle position, velocity, acceleration and end position is drawn. The correctness of the simulation algorithm is verified theoretically. (3) in order to make the robot end effector track the desired trajectory smoothly and without impact, the dynamic characteristics of the trajectory tracking control algorithm are considered. Firstly, based on the dynamic model, the traditional trajectory tracking algorithm is analyzed, and the feedback linear integral sliding mode algorithm is proposed. The stability of the algorithm is analyzed by Lyapunov theory. The simulation results with matlab software verify the feasibility of the proposed algorithm and its advantages in tracking accuracy and response time.
【學(xué)位授予單位】：湖北工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242

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