本文選題：運(yùn)動控制器 + 機(jī)器人運(yùn)動學(xué)��； 參考：《深圳大學(xué)》2017年碩士論文

【摘要】：機(jī)器人控制器是機(jī)器人的控制核心,也是衡量機(jī)器人運(yùn)動性能水平的重要標(biāo)志,其底層運(yùn)動學(xué)算法設(shè)計(jì)的好壞直接影響著機(jī)器人的運(yùn)動控制性能。本課題以六軸工業(yè)機(jī)器人為研究對象,以伺服驅(qū)動技術(shù)為基礎(chǔ),從運(yùn)動學(xué)算法層次,對工業(yè)機(jī)器人運(yùn)動控制器底層的開發(fā)設(shè)計(jì)做出了系統(tǒng)性介紹。機(jī)器人運(yùn)動學(xué)研究。通過D-H建模法得到機(jī)器人目標(biāo)位置姿態(tài)矩陣;采用幾何解析和坐標(biāo)變換的方法分析出機(jī)器人的8組位置運(yùn)動學(xué)逆解以及對應(yīng)的8種機(jī)器人結(jié)構(gòu)狀態(tài),以8種結(jié)構(gòu)狀態(tài)為基礎(chǔ)分析出了機(jī)器人的3種奇異位型,并對奇異位型提出了具體的處理措施。通過雅克比矩陣分析了如何通過速度運(yùn)動學(xué)實(shí)現(xiàn)其軌跡控制,將速度運(yùn)動學(xué)的控制效果和位置運(yùn)動學(xué)的控制效果進(jìn)行了比較,分析二者的優(yōu)劣。運(yùn)動學(xué)軌跡插補(bǔ)算法�；诼菪碚撎岢隽俗藨B(tài)的運(yùn)動規(guī)劃策略;使用多項(xiàng)式樣條插值完成了直角坐標(biāo)和關(guān)節(jié)坐標(biāo)的規(guī)劃軌跡的設(shè)計(jì);通過數(shù)學(xué)幾何分析和坐標(biāo)變換完成機(jī)械手的空間直線路徑規(guī)劃、空間圓弧路徑規(guī)劃及空間柱狀螺旋線路徑規(guī)劃的設(shè)計(jì);基于梯形加減速的速度規(guī)劃方式完成了對多段線連續(xù)軌跡前瞻控制的設(shè)計(jì)。運(yùn)動控制器底層軟件設(shè)計(jì)。對控制器底層架構(gòu)做出總體分析,分別從FPGA中底層邏輯模塊設(shè)計(jì)和DSP中的底層軟件設(shè)計(jì)兩方面對其開發(fā)設(shè)計(jì)過程作出了系統(tǒng)性的全面介紹。算法仿真及控制器的離線和在線測試。通過MATLAB工具箱完成了對機(jī)器人的建模,并以此為基礎(chǔ)完成了各種規(guī)劃軌跡的仿真研究和運(yùn)動學(xué)算法的驗(yàn)證。通過opengl軟件庫完成了對3ds格式的機(jī)器人3D文件的讀入,并在visual studio中開發(fā)出了機(jī)器人運(yùn)動控制的仿真軟件,該仿真軟件可以通過TCP/IP協(xié)議與運(yùn)動控制器進(jìn)行以太網(wǎng)通信,通過將運(yùn)動控制算法寫入到運(yùn)動控制器,由運(yùn)動控制器向仿真軟件發(fā)送機(jī)器人關(guān)節(jié)的控制數(shù)據(jù)來驅(qū)動圖形仿真機(jī)器人的關(guān)節(jié)運(yùn)動,并畫出運(yùn)動軌跡來驗(yàn)證運(yùn)動控制器內(nèi)部運(yùn)動控制算法的可行性。將控制器連接到驅(qū)動機(jī)器人關(guān)節(jié)的伺服電機(jī)上,在Debug模式下通過預(yù)先給定的運(yùn)動規(guī)劃軌跡測試機(jī)器人本體的實(shí)際運(yùn)動情況。
[Abstract]:Robot controller is not only the core of robot control, but also an important symbol to measure the level of robot motion performance. The design of bottom kinematics algorithm directly affects the performance of robot motion control. Taking six-axis industrial robot as research object and servo drive technology as the foundation, this paper systematically introduces the development and design of motion controller of industrial robot from the level of kinematics algorithm. Kinematics of robots. The pose matrix of robot's target position is obtained by D-H modeling method, eight sets of inverse kinematics solutions of robot's position and corresponding eight kinds of robot's structural states are analyzed by geometric analysis and coordinate transformation. On the basis of eight structural states, three singular bit types of the robot are analyzed, and the specific treatment measures for the singular bit types are put forward. By means of Jacobian matrix, how to realize the trajectory control by velocity kinematics is analyzed. The control effect of velocity kinematics and the control effect of position kinematics are compared, and the advantages and disadvantages of the two methods are analyzed. Kinematics trajectory interpolation algorithm. Based on the helical theory, the motion planning strategy of attitude is proposed, the planning trajectory of rectangular coordinate and joint coordinate is designed by polynomial spline interpolation, and the space linear path planning of manipulator is accomplished by mathematical geometric analysis and coordinate transformation. The design of space arc path planning and spatial cylindrical spiral path planning, and the speed planning method based on trapezoidal acceleration and deceleration completed the design of multi-segment continuous trajectory forward control. Motion controller bottom software design. This paper makes a general analysis on the basic architecture of the controller and makes a systematic and comprehensive introduction to the development and design process of the controller from the following two aspects: the design of the underlying logic module in FPGA and the design of the underlying software in the DSP. Algorithm simulation and off-line and online testing of the controller. The modeling of the robot is completed by MATLAB toolbox, and based on this, the simulation research of various planning trajectories and the verification of kinematics algorithms are completed. The 3D file of robot in 3ds format is read in by opengl software library, and the simulation software of robot motion control is developed in visual studio. The simulation software can communicate with the motion controller via TCP/IP protocol. The motion control algorithm is written to the motion controller, and the motion controller sends the control data of the robot joint to the simulation software to drive the motion of the robot. The motion trajectory is drawn to verify the feasibility of the motion control algorithm in the motion controller. The controller is connected to the servo motor that drives the robot joints, and the actual motion of the robot body is tested under the Debug mode through the pre-given trajectory of motion planning.
【學(xué)位授予單位】：深圳大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242

【參考文獻(xiàn)】

相關(guān)期刊論文 前10條

1 楊澤林;李先發(fā);;基于雙指針環(huán)形緩沖區(qū)的數(shù)據(jù)采集系統(tǒng)設(shè)計(jì)[J];儀表技術(shù)與傳感器;2016年11期

2 周磊;劉慶想;王邦繼;李相強(qiáng);張建穹;;控制器局域網(wǎng)絡(luò)總線在陣列天線中的應(yīng)用[J];強(qiáng)激光與粒子束;2016年08期

3 漢俊梅;李靖;劉曉東;;基于工業(yè)總線技術(shù)智能生產(chǎn)控制系統(tǒng)的分析[J];汽車工藝與材料;2016年06期

4 馬鵬;劉衛(wèi)國;彭紀(jì)昌;毛帥;駱光照;;三級式同步電機(jī)的自抗擾起動控制[J];控制理論與應(yīng)用;2015年12期

5 韋慧玲;仇原鷹;盛英;;高速繩牽引攝像機(jī)器人的運(yùn)動穩(wěn)定控制[J];西安電子科技大學(xué)學(xué)報(bào);2016年05期

6 江沛;黃水華;韋巍;單才華;項(xiàng)基;;帶關(guān)節(jié)約束的非冗余機(jī)械手臂二階逆運(yùn)動學(xué)控制[J];浙江大學(xué)學(xué)報(bào)(工學(xué)版);2015年10期

7 戴建生;;機(jī)構(gòu)學(xué)與旋量理論的歷史淵源以及有限位移旋量的發(fā)展[J];機(jī)械工程學(xué)報(bào);2015年13期

8 余躍慶;梁浩;張卓;;平面4自由度欠驅(qū)動機(jī)器人的位置和姿態(tài)控制[J];機(jī)械工程學(xué)報(bào);2015年13期

9 王秋s，

本文編號：1935235