本文選題：六自由度機(jī)器人　切入點(diǎn)：軌跡規(guī)劃　出處：《華北電力大學(xué)》2017年碩士論文

【摘要】：隨著現(xiàn)代工業(yè)生產(chǎn)自動化程度的不斷提升,工業(yè)機(jī)器人在各行各業(yè)的應(yīng)用越來越廣泛。本文以REBOT-V-6R-650六自由度機(jī)器人為研究對象,對其運(yùn)動學(xué)、軌跡路徑進(jìn)行了分析研究和仿真,主要研究內(nèi)容如下所示:第一,采用D-H法建立六自由度機(jī)器人的數(shù)學(xué)模型,求出其正、逆解的解析式,為六自由度機(jī)器人運(yùn)動路徑軌跡的研究建立數(shù)學(xué)基礎(chǔ)。第二,對六自由度機(jī)器人的軌跡進(jìn)行了規(guī)劃。為減小機(jī)器人運(yùn)動過程中的振動和沖擊,延長機(jī)器人使用壽命,提高軌跡規(guī)劃的精度,針對采用五次多項(xiàng)式樣條規(guī)劃的軌跡因加加速度有突變而導(dǎo)致的軌跡精度不高的問題,采用五次和七次非均勻B樣條對機(jī)器人軌跡進(jìn)行規(guī)劃。仿真結(jié)果表明,采用五次和七次非均勻B樣條規(guī)劃的運(yùn)動軌跡速度、加速度光滑,加加速度連續(xù)沒有突變,機(jī)器人軌跡精度較好,運(yùn)動性能優(yōu)于五次多項(xiàng)式樣條。第三,對六自由度機(jī)器人的運(yùn)動路徑進(jìn)行了優(yōu)化。以某汽車車門焊點(diǎn)路徑為例進(jìn)行分析研究,以改進(jìn)的粒子群算法對焊接路徑進(jìn)行優(yōu)化。通過個(gè)體極值追隨全局極值和隨機(jī)原始參考值以貪婪重組的方式重新生成粒子,在增強(qiáng)算法局部尋優(yōu)能力的同時(shí)加快算法的收斂速度;采用多次局部調(diào)序的策略,通過隨機(jī)調(diào)整粒子局部排列序,保證算法種群的多樣性,防止陷入局部最優(yōu)解。實(shí)驗(yàn)仿真結(jié)果表明,優(yōu)化后的路徑要優(yōu)于優(yōu)化前的路徑。第四,基于MATLAB平臺建立了六自由度機(jī)器人仿真平臺。通過在MATLAB中編寫的函數(shù)建立六自由度機(jī)器人的三維模型,建立了基礎(chǔ)運(yùn)動控制模塊、示教模塊和函數(shù)控制模塊,為六自由度機(jī)器的運(yùn)動路徑軌跡的分析研究提供仿真平臺。第五,分別在C空間和笛卡爾空間對機(jī)器人的避障路徑進(jìn)行了研究。在C空間中,建立機(jī)器人避障模型,通過改進(jìn)的遺傳算法在柵格空間中搜索避障最優(yōu)路徑。在笛卡爾空間中,建立了機(jī)械臂本體與障礙物碰撞檢測模塊,并采用六條非均勻B樣條分別對六個(gè)關(guān)節(jié)的運(yùn)動路徑進(jìn)行規(guī)劃,采用遺傳算法優(yōu)化非均勻B樣條的節(jié)點(diǎn)參數(shù),求出較優(yōu)的避障規(guī)劃解,并在仿真平臺和機(jī)器人實(shí)體上進(jìn)行分析驗(yàn)證。
[Abstract]:With the increasing automation of modern industrial production, industrial robots are used more and more widely in various industries. In this paper, the kinematics and trajectory path of REBOT-V-6R-650 six-DOF robot are analyzed and simulated. The main research contents are as follows: first, the mathematical model of 6-DOF robot is established by D-H method, and the analytical formulas of its forward and inverse solutions are obtained, which establishes the mathematical foundation for the study of the trajectory of 6-DOF robot's motion path. In order to reduce the vibration and impact during the robot movement, prolong the service life of the robot and improve the precision of trajectory planning, the trajectory of the robot with six degrees of freedom is planned. In order to solve the problem that the trajectory with polynomial spline programming is not accurate due to the sudden change of acceleration, the fifth and seventh nonuniform B-splines are used to plan the trajectory of the robot. The simulation results show that, The trajectory velocity of the robot is smooth, the acceleration is smooth, the acceleration is continuous without mutation, the trajectory accuracy of the robot is better, and the motion performance is better than the polynomial spline of the fifth degree by using the nonuniform B-spline programming of the fifth and seventh degrees. Third, The motion path of a six-degree-of-freedom robot is optimized. The solder joint path of a car door is taken as an example. The improved particle swarm optimization algorithm is used to optimize the welding path. The particle is regenerated by greedy recombination of individual extremum following global extremum and random original reference value. The local optimization ability of the algorithm is enhanced and the convergence rate of the algorithm is speeded up. The local order of particles is adjusted randomly to ensure the diversity of the algorithm population. The experimental results show that the optimized path is better than that before optimization. Fourth, The simulation platform of six-degree-of-freedom robot is established based on MATLAB platform. The three-dimensional model of six-degree-of-freedom robot is built by the function written in MATLAB, and the basic motion control module, teaching module and function control module are established. This paper provides a simulation platform for the analysis and study of the trajectory of motion path of 6-DOF machine. Fifth, the obstacle avoidance path of robot is studied in C space and Descartes space, respectively. In C space, the obstacle avoidance model of robot is established. The improved genetic algorithm is used to search the optimal path of obstacle avoidance in grid space. In Descartes space, the collision detection module of robot arm body and obstacle is established. Six non-uniform B-splines are used to plan the motion paths of the six joints, and genetic algorithm is used to optimize the node parameters of the non-uniform B-spline, and the optimal obstacle avoidance programming solution is obtained. The simulation platform and robot entity are analyzed and verified.
【學(xué)位授予單位】：華北電力大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242.2

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