發(fā)布時(shí)間：2018-03-04 13:48

  本文選題：KUKA機(jī)器人　切入點(diǎn)：運(yùn)動(dòng)學(xué)標(biāo)定　出處：《長(zhǎng)春工業(yè)大學(xué)》2017年碩士論文　論文類(lèi)型：學(xué)位論文

【摘要】：隨著人工智能的飛速發(fā)展和生產(chǎn)力水平的不斷進(jìn)步,工業(yè)機(jī)器人作為智能設(shè)備的代表被廣泛應(yīng)用到了生產(chǎn)生活的諸多領(lǐng)域,如餐飲服務(wù)、制造、醫(yī)療、航天等,并在一些高技術(shù)領(lǐng)域扮演著不可替代的角色�，F(xiàn)如今,人們不僅需要機(jī)器人能完成一些簡(jiǎn)單的工作任務(wù),更需要它們能夠完成一些精細(xì)且復(fù)雜的工作。采用離線示教工作方式的機(jī)器人側(cè)重于重復(fù)精度指標(biāo),難以滿(mǎn)足高科技生產(chǎn)中對(duì)于絕對(duì)精度的要求。為了突破工業(yè)機(jī)器人絕對(duì)精度較低這一限制,因此進(jìn)行機(jī)器人運(yùn)動(dòng)學(xué)標(biāo)定顯得日益重要。本文首先對(duì)剛體位姿和微分運(yùn)動(dòng)進(jìn)行理論剖析,為后續(xù)KUKA機(jī)器人運(yùn)動(dòng)學(xué)模型的建立和運(yùn)動(dòng)學(xué)標(biāo)定奠定理論基礎(chǔ)。本文以工業(yè)機(jī)器人車(chē)身激光檢測(cè)系統(tǒng)中最常用的KUKA工業(yè)機(jī)器人實(shí)際參數(shù)為基礎(chǔ),依據(jù)D-H方法建立運(yùn)動(dòng)學(xué)模型,然后對(duì)D-H模型在運(yùn)動(dòng)學(xué)標(biāo)定中存在的不足和缺陷進(jìn)行分析,采用修正后的5參數(shù)M-DH模型建立本文用于標(biāo)定的運(yùn)動(dòng)學(xué)模型,并討論運(yùn)動(dòng)學(xué)正、逆解問(wèn)題。文章通過(guò)對(duì)機(jī)器人的誤差進(jìn)行綜合分析,確定了誤差主要來(lái)源為幾何誤差,并根據(jù)最終建立的M-DH模型建立機(jī)器人幾何誤差模型,即機(jī)器人定位誤差與機(jī)器人連桿幾何誤差的關(guān)系式。鑒于代數(shù)法在求解機(jī)器人逆運(yùn)動(dòng)學(xué)問(wèn)題上存在計(jì)算量大等缺點(diǎn),本文選用神經(jīng)網(wǎng)絡(luò)來(lái)求解機(jī)器人逆解。該方法以運(yùn)動(dòng)學(xué)模型為基礎(chǔ)計(jì)算出機(jī)器人正解,然后作為訓(xùn)練樣本訓(xùn)練經(jīng)微分進(jìn)化算法優(yōu)化的BP神經(jīng)網(wǎng)絡(luò)(DE-BP網(wǎng)絡(luò)),實(shí)現(xiàn)機(jī)器人末端操作手位姿與各關(guān)節(jié)變量的非線性映射關(guān)系,從而避免了繁瑣復(fù)雜的公式推導(dǎo)過(guò)程。本文討論了點(diǎn)約束學(xué)標(biāo)定方法及其原理。為辨識(shí)出更為準(zhǔn)確的幾何參數(shù),在點(diǎn)約束標(biāo)定方法的基礎(chǔ)上提出了一種虛擬空間點(diǎn)約束的標(biāo)定法,并詳細(xì)分析和論證了該方法的原理。該方法通過(guò)激光束延長(zhǎng)末端操作手的長(zhǎng)度的方法將末端位置誤差放大在觀測(cè)平板上,以此能夠獲得更高精度的關(guān)節(jié)角的值。為了驗(yàn)證本文提出的虛擬空間點(diǎn)約束的標(biāo)定方法的有效性和穩(wěn)定性,本文以KUKA機(jī)器人為研究對(duì)象,利用有關(guān)數(shù)據(jù)進(jìn)行了標(biāo)定仿真和試驗(yàn)。
[Abstract]:With the rapid development of artificial intelligence and the continuous progress of productivity level, industrial robots, as representatives of intelligent devices, have been widely used in many fields of production and life, such as catering services, manufacturing, medical treatment, aerospace, and so on. And playing an irreplaceable role in some high-tech fields. Nowadays, people don't just need robots to accomplish some simple tasks. More importantly, they need to be able to do some fine and complex work. Robots that use off-line instruction work focus on repeating accuracy indicators. It is difficult to meet the requirement of absolute precision in high-tech production. In order to break through the limitation of low absolute precision of industrial robot, So it is more and more important to calibrate the robot kinematics. In this paper, the kinematics model of KUKA robot is established by D-H method, which is based on the practical parameters of the most commonly used KUKA industrial robot in the laser detection system of the body of the industrial robot. Then, the shortcomings and defects of D-H model in kinematics calibration are analyzed, and the kinematics model of this paper is established by using the modified 5-parameter M-DH model, and the kinematics positive is discussed. By synthetically analyzing the error of the robot, it is determined that the main source of the error is geometric error, and the geometric error model of the robot is established according to the final M-DH model. That is, the relationship between robot positioning error and robot connecting rod geometric error. In view of the disadvantages of algebraic method in solving robot inverse kinematics problems, In this paper, neural network is used to solve the inverse solution of the robot, and the forward solution of the robot is calculated based on the kinematics model. Then the DE-BP neural network optimized by differential evolution algorithm is trained as a training sample to realize the nonlinear mapping relationship between the position and pose of the robot end operator and each joint variable. In this paper, the calibration method of point constraint and its principle are discussed. In order to identify more accurate geometric parameters, the complicated formula derivation process is avoided. Based on the calibration method of point constraint, a calibration method of virtual space point constraint is proposed. The principle of the method is analyzed and proved in detail. The method amplifies the end position error on the observation plate by the method of extending the length of the end manipulator by laser beam. In order to verify the validity and stability of the calibration method proposed in this paper, the KUKA robot is taken as the research object, and the calibration simulation and experiment are carried out with the relevant data.
【學(xué)位授予單位】：長(zhǎng)春工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類(lèi)號(hào)】：TP242.2

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