本文選題：碼垛機器人 + 串聯結構��； 參考：《濟南大學》2016年碩士論文

【摘要】：隨著科學技術的不斷發(fā)展,機器人逐漸的參與到社會的很多領域,諸如人們的生活、教育、工業(yè)現場、國防及安全等。近年來,由于勞動力成本的不斷提高,為提高經濟效益,減輕人們的勞動量,碼垛機器人開始在工業(yè)領域扮演著日趨重要的角色。碼垛機器人與其他機器人相比,結構簡單,具有較強的魯棒性和柔性,易于控制等。該類型機器人可以完成工業(yè)現場的很多工作,被人們熟知的是生產流水線上的設備噴涂、切割、焊接及裝卸等作用。本課題以碼垛機器人的運動控制系統(tǒng)的設計作為研究方向,該部分的設計是碼垛機器人重要的組成,也是該課題研究的重中之重。運動控制系統(tǒng)直接關系到整個系統(tǒng)的多項性能能否正常運行,及是否達到各項性能指標。與此同時,碼垛機器人運動控制系統(tǒng)被廣泛應用于生產車間的貨物碼垛,且貨物搬運的效果具有很大的實際意義和應用價值。因此,本課題研究的意義重大。本課題是以那智不二越公司生產的LP130-01系列的串聯型4自由度碼垛機器人為研究對象,重點研究了該型號碼垛機器人的運動控制系統(tǒng),設計了關節(jié)控制器,并實現了單步控制與連續(xù)控制。通過MATLAB工具箱,對機器人的運動控制系統(tǒng)進行仿真,進而,實現了對設計方案可行性的驗證。本課題主要對如下所示的四個方面的內容進行研究:(1)最基礎的是對研究對象即LP130-01機器人本體,有清晰的認識與了解,因此,本課題首先進行機器人本體結構及技術參數的分析與研究,進而,為進一步研究打下基礎。(2)對電機選型進行分析,并對電機容量進行計算,從而得到機器人允許范圍內的負載,確保載重的可行性。(3)建立了LP130-01機器人運動學模型,求出了運動學模型的正、逆解,并通過MATLAB對運動空間進行仿真,確定機器人工作空間,驗證運動學方程求解的正確性。(4)設計關節(jié)控制器,對機器人關節(jié)角進行控制,對機器人的運動軌跡進行規(guī)劃,實現了起始點到目標點的單步控制和連續(xù)控制,并采用圓弧軌跡插補的方法,將軌跡進行優(yōu)化,避免了銳利折線,形成一條光滑的運動曲線,將性能進行了優(yōu)化,利用MATLAB進行驗證,再次驗證了運動學求解的正確性以及軌跡規(guī)劃的可行性。
[Abstract]:With the development of science and technology, robots gradually participate in many fields of society, such as people's life, education, industrial scene, national defense and safety. In recent years, due to the continuous increase of labor costs, in order to improve economic efficiency and reduce the amount of labor, palletizing robots have begun to play an increasingly important role in the field of industry. Compared with other robots, palletizing robot has the advantages of simple structure, strong robustness, flexibility and easy control. This type of robot can accomplish a lot of work on the industrial site. It is well known for the functions of spraying, cutting, welding and loading and unloading equipment on the production line. In this paper, the design of motion control system of palletizing robot is taken as the research direction. The design of this part is an important component of palletizing robot and the most important part of the research. The motion control system is directly related to the performance of the whole system. At the same time, the motion control system of palletizing robot is widely used in the cargo palletizing of production workshop, and the effect of cargo handling has great practical significance and application value. Therefore, this research is of great significance. In this paper, we take the series 4-DOF palletizing robot of LP130-01 series produced by Nazidueryue Company as the object of study. The motion control system of this type of palletizing robot is studied emphatically, and the joint controller is designed. The single step control and continuous control are realized. The motion control system of the robot is simulated by MATLAB toolbox, and the feasibility of the design scheme is verified. This subject mainly studies the contents of four aspects as follows: 1) the most basic is to have a clear understanding and understanding of the object of study, that is, the body of the LP130-01 robot, so, Firstly, the structure and technical parameters of the robot are analyzed and studied. Then, the motor selection is analyzed and the motor capacity is calculated to get the load in the allowable range of the robot. The kinematics model of LP130-01 robot is established, the forward and inverse solutions of kinematics model are obtained, and the robot workspace is determined by MATLAB simulation. Verify the correctness of kinematics equation solving. (4) Design the joint controller, control the robot joint angle, plan the robot's motion trajectory, realize the one-step control and continuous control from the starting point to the target point. The arc trajectory interpolation method is used to optimize the trajectory to avoid sharp broken lines and form a smooth motion curve. The performance is optimized and verified by MATLAB. The correctness of kinematics and the feasibility of trajectory planning are verified again.
【學位授予單位】：濟南大學
【學位級別】：碩士
【學位授予年份】：2016
【分類號】：TP242

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