本文選題：運動學(xué)分析 + 軌跡規(guī)劃��； 參考：《天津科技大學(xué)》2017年碩士論文

【摘要】：工業(yè)機器人機器人在當(dāng)今的工業(yè)生產(chǎn)中已經(jīng)占據(jù)著越來越重要的地位,我通過對五自由度機器人控制系統(tǒng)的設(shè)計,將有關(guān)機器人的知識在設(shè)計過程中得以重現(xiàn),通過計算機軟件對機器人進行了仿真,并搭架了能夠?qū)崿F(xiàn)簡單運動并滿足實驗室教學(xué)需要的五自由度串聯(lián)機器人。本文研究的五自由度串聯(lián)機器人采用步進電機驅(qū)動,并搭建了實體機器人模型;舵機則在仿真中和步進電機做對應(yīng),進行對比性研究。首先以三維建模為基礎(chǔ),對要搭建的實體機器人進行了控制相關(guān)組件的選型,包括電機控制、電機、通訊傳感器模塊等;然后對機器人進行了運動學(xué)的計算和仿真,優(yōu)化了機器人各個自由度的運動角度范圍;接下來對機器人上步進電機的速度軌跡和執(zhí)行末端的軌跡進行了規(guī)劃與仿真,確定了兩種軌跡的方案;然后針對機器人關(guān)節(jié)上步進電機控制進行了研究,根據(jù)驅(qū)動步進電機的原理特點以及機器人上關(guān)節(jié)運動的需要,并結(jié)合上一部分步進電機的速度曲線,制定出了一套高精度控制機器人關(guān)節(jié)上步進電機的方案。最后一部分是控制系統(tǒng)的仿真與搭建,也是本文研究的重點部分。首先是基于matlab中的Simmechanics模塊組建立了機器人的仿真模型,然后在驅(qū)動模塊中分別仿真了步進電機和舵機兩種方案,并進行了對比;然后是搭建實體模型的控制系統(tǒng),其中包括了通訊、傳感器以及電機驅(qū)動器模塊與單片機的接線和使用,最后重點介紹了電腦端控制界面的設(shè)計,包括基于QT設(shè)計界面的基本方法以及QT中串口通信函數(shù)庫的使用等。
[Abstract]:Industrial robots are playing a more and more important role in today's industrial production. Through the design of a five-degree-of-freedom robot control system, I recreate the knowledge of the robot in the design process. The robot is simulated by computer software and a series robot with five degrees of freedom which can realize simple motion and meet the needs of laboratory teaching is built. The five-degree-of-freedom series robot is driven by stepper motor, and a solid robot model is built, while the steering gear is compared in simulation and step motor. Firstly, based on 3D modeling, the control components of the robot are selected, including motor control, motor, communication sensor module and so on, and then the kinematics calculation and simulation of the robot are carried out. The motion angle range of each degree of freedom of the robot is optimized, and then the velocity trajectory of the stepping motor and the trajectory of the executing end are planned and simulated, and the two kinds of trajectory schemes are determined. Then, the control of the step motor on the robot joint is studied. According to the principle characteristics of the driving step motor and the need of the motion of the robot joint, the speed curve of the step motor is combined with the speed curve of the upper part of the step motor. A high-precision control scheme of step motor on robot joint is developed. The last part is the simulation and construction of the control system. First, the simulation model of robot is established based on Simmechanics module group in matlab, and then two schemes of stepping motor and steering gear are simulated in the driving module, and then the control system of solid model is built. It includes communication, sensor and motor driver module connection and use with single chip microcomputer. Finally, the design of computer terminal control interface is introduced. It includes the basic method of designing interface based on QT and the use of serial communication function library in QT.
【學(xué)位授予單位】：天津科技大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242

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本文編號：1947197