本文選題：機(jī)器人　切入點(diǎn)：動(dòng)力系統(tǒng)控制　出處：《南京理工大學(xué)》2017年碩士論文　論文類型：學(xué)位論文

【摘要】：隨著現(xiàn)代化智能制造技術(shù)的發(fā)展,碼垛機(jī)器人以高精度、智能化及占地范圍小等優(yōu)勢(shì)逐漸取代了傳統(tǒng)繁重、單一的人力堆垛勞作。結(jié)合碼垛機(jī)器人更大柔性、更高精度以及更高速度的要求,本文以實(shí)際工程項(xiàng)目為研究背景,研究四自由度碼垛機(jī)器人的動(dòng)力系統(tǒng)控制平臺(tái),且探討了基于關(guān)節(jié)空間的運(yùn)行軌跡及算法的優(yōu)化,以滿足生產(chǎn)實(shí)踐需求。首先,分析了ABT碼垛機(jī)器人特殊的機(jī)械構(gòu)型和運(yùn)動(dòng)特點(diǎn),然后結(jié)合動(dòng)力系統(tǒng)及控制系統(tǒng)各組成部分的功能要求,將系統(tǒng)分為操作、驅(qū)動(dòng)控制和運(yùn)動(dòng)三大模塊。其次,設(shè)計(jì)并實(shí)現(xiàn)了機(jī)器人動(dòng)力控制系統(tǒng)軟硬件體系,包括TrioMC405運(yùn)動(dòng)控制器的研究、伺服驅(qū)動(dòng)裝置的選取、人機(jī)界面設(shè)計(jì)以及整個(gè)動(dòng)力控制系統(tǒng)的電氣連接。并且以靜態(tài)性能和動(dòng)態(tài)性能為基礎(chǔ),通過計(jì)算,匹配合適的電機(jī)及驅(qū)動(dòng)器型號(hào)。再次,在關(guān)節(jié)空間內(nèi)對(duì)比并優(yōu)化機(jī)器人末端運(yùn)行軌跡。同時(shí)針對(duì)碼垛機(jī)器人在高速運(yùn)行中產(chǎn)生的沖擊問題,以優(yōu)化節(jié)拍為目的,將組合型擬合方法、非對(duì)稱化和最短操作時(shí)間引入到軌跡規(guī)劃算法中,提出梯形-三角擬合型函數(shù)和高階擬合型函數(shù)算法�；贛atlab對(duì)軌跡規(guī)劃結(jié)果進(jìn)行了仿真與對(duì)比,結(jié)果顯示軌跡規(guī)劃曲線的高階導(dǎo)數(shù)連續(xù)性及具有較小的速度、加速度最值的優(yōu)點(diǎn)。最后,采用ABT碼垛機(jī)器人為實(shí)驗(yàn)研究對(duì)象,對(duì)動(dòng)力系統(tǒng)的性能以及本文提出的軌跡規(guī)劃理論算法進(jìn)行驗(yàn)證和分析,結(jié)果表明機(jī)器人動(dòng)力系統(tǒng)能夠滿足相應(yīng)的工作要求。同時(shí),提出的關(guān)節(jié)軌跡規(guī)劃方法解決了關(guān)節(jié)平滑驅(qū)動(dòng)的問題,表明本文的規(guī)劃方法切實(shí)可行且有利于提高機(jī)器人碼垛運(yùn)行效率。
[Abstract]:With the development of modern intelligent manufacturing technology, palletizing robot has gradually replaced the traditional heavy and single manual stacking work with the advantages of high precision, intelligence and small area of occupation. Combined with palletizing robot, the palletizing robot is more flexible. With the requirement of higher precision and higher speed, this paper takes the actual engineering project as the research background, studies the dynamic system control platform of the four-degree-of-freedom palletizing robot, and discusses the optimization of the trajectory and algorithm based on the joint space. Firstly, the special mechanical configuration and motion characteristics of the ABT palletizing robot are analyzed, and then the system is divided into operation according to the functional requirements of the power system and the control system. Secondly, the hardware and software system of robot dynamic control system is designed and implemented, including the research of TrioMC405 motion controller, the selection of servo drive device. The man-machine interface design and the electrical connection of the whole power control system. And based on static and dynamic performance, through calculation, matching the appropriate motor and driver model. Again, Contrasting and optimizing the trajectory of the end of robot in the joint space, aiming at the impact of palletizing robot in high speed, aiming at optimizing the beat, the combined fitting method is proposed. Asymmetric and shortest operation time are introduced into trajectory planning algorithm. Trapezoidal and triangular fitting functions and high-order fitting function algorithms are proposed. The trajectory planning results are simulated and compared based on Matlab. The results show the continuity of the higher derivative of the trajectory planning curve and the advantages of smaller velocity and acceleration. Finally, the ABT palletizing robot is used as the experimental object. The performance of the dynamic system and the trajectory planning algorithm proposed in this paper are verified and analyzed. The results show that the dynamic system of the robot can meet the corresponding requirements. The proposed joint trajectory planning method solves the problem of joint smooth driving, which shows that the proposed planning method is feasible and helpful to improve the efficiency of robot palletizing operation.
【學(xué)位授予單位】：南京理工大學(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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