【摘要】：隨著機器人的應用越來越廣泛,所面對的工作環(huán)境越來越復雜,示教系統(tǒng)在機器人的使用操作中起著至關重要的作用。目前國內主流的六軸機器人多依靠進口,其示教系統(tǒng)多為封閉且難以二次開發(fā)。同時國內在機器人示教系統(tǒng)領域的研究也相對落后,而且欠缺能熟練操作機器人的技術型人才。因此本文研制一套六軸機器人仿真示教系統(tǒng),將示教器連接計算機仿真平臺,取代傳統(tǒng)的與機器人相連的方式。該系統(tǒng)可以提供機器人的操作練習,還可以將其用于對示教系統(tǒng)的進一步研究。首先,對六軸機器人的運動學進行分析研究。采用D-H表示法建立運動學模型,推導并求解六軸機器人的正逆運動學方程,并研究了在多組逆解中選取最優(yōu)解的問題,最后通過編程進行了仿真驗證。其次,分析六軸機器人示教系統(tǒng)的使用需求,提出一種新型的機器人仿真示教器的總體設計方案。示教器的硬件設計是以STM32作為主控制器,兼容性好且便于移植,然后對以太網通信電路、鍵盤電路、觸摸屏通信電路等進行了分析設計。在示教器的軟件設計上引入了實時操作系統(tǒng),保證了程序的穩(wěn)定性和良好的開放性,并給出了主程序、以太網通信程序、鍵盤讀取程序等流程圖。該示教器可以通過以太網與計算機仿真平臺進行連接,實現對三維仿真的機器人進行控制。在六軸機器人運動學模型的基礎上,采用VC++和開放圖形庫(Open GL)搭建機器人的三維模型。將Solid Works生成的模型文件導入VC++環(huán)境中,保證了模型的逼真準確。該方法彌補了Open GL在繪制復雜圖形時工作量大、開發(fā)效率低的缺陷和Solid Works軟件編程接口開放性差的缺陷,大大提高了開發(fā)效率。軌跡規(guī)劃是機器人運動控制的重要內容,本文分析了關節(jié)空間中的幾種多項式插值規(guī)劃法,對笛卡爾空間中三段S曲線的直線插補法進行改進,采用了五段S曲線規(guī)劃法,使機器人末端的運行速度變化更平穩(wěn),并通過編程進行驗證。最后分析機器人示教系統(tǒng)的控制流程,在計算機仿真平臺上為機器人三維模型增加手動控制和示教再現等功能,使該仿真示教系統(tǒng)能夠接近實際使用效果。并對機器人的碰撞檢測問題進行研究,保證機器人的安全運行。實驗結果表明,該仿真示教系統(tǒng)中的三維機器人模型構建準確且運行流暢,功能使用正常。該方法具有一定的開放性和可移植性,可以在此基礎上對機器人示教系統(tǒng)進行進一步的研究,還可以為操作人員提供一個安全方便的操作練習平臺。
[Abstract]:With the more and more extensive application of robot, the working environment is becoming more and more complex. Teaching system plays an important role in the operation of robot. At present, the mainstream six-axis robots mostly rely on imports, and their teaching systems are closed and difficult to be redeveloped. At the same time, the research in the field of robot teaching system is relatively backward, and lack of skilled robot technical personnel. Therefore, a six-axis robot simulation and teaching system is developed in this paper, which is connected with the computer simulation platform to replace the traditional way of connecting with the robot. The system can provide robot operation exercises and can be used to further study the teaching system. Firstly, the kinematics of six-axis robot is studied. The kinematics model is established by using D-H representation, and the forward and inverse kinematics equations of six-axis robot are deduced and solved. The problem of selecting the optimal solution in the multi-group inverse solution is studied. Finally, the simulation is carried out by programming. Secondly, the application requirement of the six-axis robot teaching system is analyzed, and a new design scheme of the robot simulation teacher is put forward. The hardware design of the teacher is based on STM32, which has good compatibility and is easy to transplant. Then, the Ethernet communication circuit, keyboard circuit and touch screen communication circuit are analyzed and designed. The real-time operating system is introduced into the software design of the teacher, which ensures the stability and good openness of the program. The flow chart of main program, Ethernet communication program and keyboard reading program is also given. The teacher can connect with the computer simulation platform through Ethernet to realize the control of the 3D simulation robot. Based on the kinematics model of six-axis robot, VC and (Open GL) are used to build the 3D model of robot. The model files generated by Solid Works are imported into VC environment to ensure the accuracy of the model. This method makes up for the defects of Open GL in drawing complex graphics, such as heavy workload, low development efficiency and poor opening of Solid Works software programming interface, and greatly improves the development efficiency. Trajectory planning is an important part of robot motion control. In this paper, several polynomial interpolation programming methods in joint space are analyzed. The linear interpolation method of three-segment S-curve in Cartesian space is improved, and the five-segment S-curve programming method is adopted. It makes the running speed of the robot end more stable and verified by programming. Finally, the control flow of the robot teaching system is analyzed, and the functions of manual control and teaching reappearance are added to the 3D model of the robot on the computer simulation platform, so that the simulation teaching system can approach the actual application effect. The collision detection problem of the robot is studied to ensure the safe operation of the robot. The experimental results show that the 3D robot model in the simulation teaching system is accurate and running smoothly, and the function is normal. This method has certain openness and portability, on the basis of which the robot teaching system can be further studied, and a safe and convenient operation platform can be provided for operators.
【學位授予單位】：江南大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP242

【參考文獻】

相關期刊論文 前10條

1 劉昆;李世中;王寶祥;;基于UR機器人的直接示教系統(tǒng)研究[J];科學技術與工程;2015年28期

2 董輝;仲曉帆;黃勝;;一種六關節(jié)機器人關節(jié)空間軌跡規(guī)劃方法[J];浙江工業(yè)大學學報;2015年03期

3 楊志龍;付永領;;弧焊機器人離線編程系統(tǒng)[J];航空精密制造技術;2015年03期

4 諶進;馬尚昌;張素娟;楊筆鋒;;基于UCOS-Ⅱ和LwIP的串口設備聯(lián)網技術研究[J];電子設計工程;2015年10期

5 陳勝奮;謝明紅;;工業(yè)機器人運動碰撞的仿真實現[J];華僑大學學報(自然科學版);2015年02期

6 駱敏舟;方健;趙江海;;工業(yè)機器人的技術發(fā)展及其應用[J];機械制造與自動化;2015年01期

7 郭發(fā)勇;梅濤;趙江海;;D-H法建立連桿坐標系存在的問題及改進[J];中國機械工程;2014年20期

8 林威;江五講;;工業(yè)機器人笛卡爾空間軌跡規(guī)劃[J];機械工程與自動化;2014年05期

9 張舒曼;周亞軍;;基于Matlab的機器人運動學分析與軌跡規(guī)劃仿真[J];工業(yè)控制計算機;2014年08期

10 王寧;張新敏;;基于MATLAB的六自由度機器人軌跡規(guī)劃與仿真[J];制造業(yè)自動化;2014年15期

相關碩士學位論文 前10條

1 付立友;基于WinCE的機器人示教器軟件系統(tǒng)設計[D];東南大學;2016年

2 梁僑;6-DOF工業(yè)機器人軌跡規(guī)劃及控制方法研究[D];青島理工大學;2015年

3 俞曉慧;串聯(lián)機器人軌跡規(guī)劃研究及其控制系統(tǒng)設計[D];合肥工業(yè)大學;2015年

4 宋金華;六軸工業(yè)機器人的軌跡規(guī)劃與控制系統(tǒng)研究[D];哈爾濱工業(yè)大學;2013年

5 劉健;基于MH50六軸機器人的軌跡規(guī)劃研究[D];大連海事大學;2013年

6 王樂;基于嵌入式計算機的機器人示教器研究[D];天津大學;2012年

7 辛鑫;機器人手持智能終端系統(tǒng)的研發(fā)[D];天津大學;2013年

8 楊威;基于以太網的工業(yè)機器人示教裝置開發(fā)[D];華中科技大學;2011年

9 孟國軍;工業(yè)機器人離線編程系統(tǒng)關鍵技術的研究[D];華中科技大學;2011年

10 凌家良;基于OpenGL的工業(yè)機器人運動仿真軟件的設計與實現[D];中南大學;2009年

，

本文編號：2260655