本文選題：機器人 + 軌跡規(guī)劃�。� 參考：《江蘇科技大學(xué)》2017年碩士論文

【摘要】：我國工業(yè)化處于高速發(fā)展的階段,機器人控制技術(shù)的研究對加快工業(yè)4.0進程具有重要意義。軌跡規(guī)劃作為機器人控制技術(shù)的重要組成部分逐漸成為熱門研究方向。從工業(yè)機器人在國內(nèi)外的研究發(fā)展現(xiàn)狀可以看出我國急需研究開發(fā)工業(yè)機器人相關(guān)控制技術(shù),而現(xiàn)有的軌跡規(guī)劃方法存在應(yīng)對機器人過彎作業(yè)時會引起沖擊的不足,例如激光切割、焊接噴涂等機器人在高速過彎時會因沖擊造成本體振動,影響作業(yè)精度。針對此問題提出分段軌跡規(guī)劃的思想,以F3型機器人為研究對象,先通過改進DH法構(gòu)建機器人數(shù)學(xué)模型;再針對機器人作業(yè)軌跡示教點任意分布的情況,選用三次非均勻B樣條曲線來擬合機器人在笛卡爾空間中的作業(yè)軌跡,提高擬合曲線精度;依據(jù)軌跡曲率極值點對曲線分段處理,采用復(fù)合積分公式計算單段曲線長度,保證計算精度。選用兩種不同的速度控制曲線進行對比分析,表明了梯形速度曲線因加速度的突變會引起對本體的沖擊。選用S形速度曲線進行軌跡規(guī)劃,設(shè)計S形速度規(guī)劃器,規(guī)劃器以曲線長度和始末速度限制作為輸入量計算得出插補步長。構(gòu)建u-L反函數(shù),求解任意插補步長L對應(yīng)的空間插補點位置參數(shù)u。最后分別采用全局標(biāo)準(zhǔn)S形速度規(guī)劃、分段標(biāo)準(zhǔn)減速S形速度規(guī)劃以及分段預(yù)減速S形速度規(guī)劃算法對F3型機器人進行仿真,通過速度、加速度曲線變化的對比以及空間插補效果的直觀對比,表明采用分段式預(yù)減速軌跡規(guī)劃算法可以有效的減小機器人末端在過彎時產(chǎn)生的沖擊,抑制振動,保證機器人運行平穩(wěn)。將機器人末端執(zhí)行器在作業(yè)時速度、加速度和加加速度進行空間分解,更加直觀對比全局標(biāo)準(zhǔn)S形速度規(guī)劃與分段預(yù)減速S形速度規(guī)劃對機器人末端執(zhí)行器造成的沖擊和影響,表明算法的真實有效性。
[Abstract]:China's industrialization is in the stage of rapid development, and the research of robot control technology is of great significance to accelerate the process of industry 4.0. As an important part of robot control technology, trajectory planning has gradually become a hot research direction. From the current situation of industrial robot research and development at home and abroad, it can be seen that there is an urgent need to research and develop the relevant control technology of industrial robot in our country. However, the existing trajectory planning methods are insufficient to deal with the impact caused by over-bending operation of the robot. For example, laser cutting, welding spraying and other robots will vibrate at high speed due to impact, which will affect the precision of operation. In order to solve this problem, the idea of segmented trajectory planning is put forward. Taking F3 robot as the research object, the mathematical model of robot is constructed by improving DH method, and then aiming at the arbitrary distribution of locus teaching points of robot operation, The cubic nonuniform B-spline curve is used to fit the robot's working trajectory in Cartesian space, and the precision of the fitting curve is improved, the curve is segmented according to the extreme point of trajectory curvature, and the length of a single segment curve is calculated by the compound integral formula. Ensure the accuracy of the calculation. Two different velocity control curves are chosen to compare and analyze, which shows that the trapezoidal velocity curve will cause shock to the body because of the sudden change of acceleration. S-shape velocity curve is selected for trajectory planning and S-shape velocity planner is designed. The length of curve and the limit of velocity at beginning and end are used as input to calculate the interpolation step. The u-L inverse function is constructed and the space interpolation point position parameter u corresponding to the arbitrary interpolation step L is solved. Finally, the F3 robot is simulated by global standard S-shape velocity planning, piecewise standard deceleration S-shape velocity planning and piecewise pre-deceleration S-shape velocity planning algorithm. The comparison of acceleration curve change and space interpolation effect shows that the segmented pre-deceleration trajectory planning algorithm can effectively reduce the impact of the end of the robot in the bending, suppress the vibration, and ensure the smooth operation of the robot. In this paper, the velocity, acceleration and acceleration of the robot terminal actuator are decomposed in space, and the impact and influence of the global standard S-shape velocity planning and the segmented pre-deceleration S-shape velocity planning on the robot end actuators are compared intuitively. The validity of the algorithm is demonstrated.
【學(xué)位授予單位】：江蘇科技大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242.2

【參考文獻】

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1 孫瑛;程文韜;李公法;孔建益;蔣國璋;李U，

本文編號：2039950