【摘要】：作為柔性制造系統(tǒng)關鍵組成部分的機器人已廣泛應用于電子制造行業(yè)。如何進一步地提升產(chǎn)能是業(yè)界關注的重點,為彌補單機器人系統(tǒng)的不足,應用多機器人系統(tǒng)成為一個常用的解決方案,而如何規(guī)劃多機器人在共享工作空間下的無碰運動則是一個亟需解決的問題。本文以多機器人在電子制造行業(yè)中的應用為背景,圍繞多機器人無碰路徑規(guī)劃和碰撞檢測等關鍵技術及在異型插件作業(yè)中的應用展開研究,主要完成了如下工作:1.多機器人系統(tǒng)無碰路徑規(guī)劃問題的描述以及基本方法研究。探討了多機器人系統(tǒng)在位形空間中的描述方式,將多機器人系統(tǒng)無碰路徑規(guī)劃問題轉化為在位形空間中的路徑求解問題;為解決位形空間下的路徑求解問題,采用了單次查詢、雙向采樣與延遲碰撞檢測相結合的SBL-PRM(Single-query,Bi-directional,Lazy collision checking,Probabilistic Roadmap Method)進行路徑規(guī)劃;設計了多機器人無碰路徑規(guī)劃器的總體方案,為多機器人系統(tǒng)的無碰路徑規(guī)劃問題提供通用解決框架。2.在多機器人無碰路徑規(guī)劃器的框架下設計與實現(xiàn)了雙SCARA機器人無碰路徑規(guī)劃器。為達到更好的路徑搜索效果,確定了SBL-PRM中的最大采樣次數(shù)、鄰域半徑、局部路徑檢測閾值;針對PRM產(chǎn)生路徑的次優(yōu)性,提出自適應步長路徑平滑算法,提高了無碰路徑的規(guī)劃質量;采用五次多項式對無碰路徑點進行規(guī)劃,提高了機器人運動的平穩(wěn)性。3.雙SCARA機器人PCB異型插件工作站的開發(fā)。討論了工作站的系統(tǒng)組成,完成了工作站控制系統(tǒng)的總體設計,分析了控制系統(tǒng)的控制流程,并對雙SCARA無碰路徑生成器、邏輯控制器、仿真平臺、機器人通訊等關鍵子程序進行了詳細設計和分析。4.實現(xiàn)了多種情景下的無碰路徑規(guī)劃及運動仿真,并將算法進一步應用于雙SCARA機器人PCB異型插件工作站中進行驗證。仿真和實驗結果表明了所提出的無碰路徑規(guī)劃算法和相應的規(guī)劃器具有較好的有效性和實用性。本文提出的多機器人無碰路徑規(guī)劃方法可推廣到含有工業(yè)機器人或者移動機器人的多機器人系統(tǒng)中,所開發(fā)的雙SCARA機器人PCB異型插件工作站對電子行業(yè)產(chǎn)能升級具有較大的參考價值和實用價值。
[Abstract]:As a key component of flexible manufacturing system, robot has been widely used in electronic manufacturing industry. In order to make up for the shortage of single robot system, the application of multi-robot system has become a common solution. How to plan the collision-free motion of multi-robots in shared workspace is an urgent problem. Based on the application of multi-robots in electronic manufacturing industry, this paper focuses on the key technologies of multi-robot collision free path planning and collision detection and its application in irregular plug-in operation. The main work is as follows: 1. Description and basic methods of path planning for multi-robot systems without collision. In this paper, the description of multi-robot system in configuration space is discussed. The path planning problem of multi-robot system without collision is transformed into a path solving problem in configuration space, and a single query is used to solve the path solving problem in configuration space. The SBL-PRM (Single-Queryry Bi-directional SBL-PRM) (Single-Queryry Bi-directional collision checking probabilistic Roadmap Method) combined with bidirectional sampling and delayed collision detection is used for path planning, and the overall scheme of multi-robot no-collision path planner is designed, which provides a general solution framework for multi-robot system's no-collision path planning. Under the framework of multi-robot no-collision path planner, a dual SCARA robot no-collision path planner is designed and implemented. In order to achieve better path search effect, the maximum sampling times, neighborhood radius and local path detection threshold in SBL-PRM are determined, and an adaptive step size path smoothing algorithm is proposed for the sub-optimality of PRM generation path. The planning quality of the collision free path is improved, and the smoothness of robot motion is improved by using the fifth order polynomial to plan the path point without collision. The development of PCB special plug-in workstation for dual SCARA robot. The system composition of the workstation is discussed, the overall design of the workstation control system is completed, the control flow of the control system is analyzed, and the dual SCARA collision-free path generator, logic controller and simulation platform are discussed. The key subprograms such as robot communication are designed and analyzed in detail. 4. The collision free path planning and motion simulation are realized in various scenarios, and the algorithm is further applied to the PCB special-plug-in workstation of dual SCARA robot for verification. The simulation and experimental results show that the proposed path planning algorithm and the corresponding planning instruments are effective and practical. The multi-robot path planning method proposed in this paper can be extended to multi-robot systems with industrial robots or mobile robots. The developed PCB plug-in workstation of dual SCARA robot has great reference value and practical value for capacity upgrading in electronic industry.
【學位授予單位】：廣東工業(yè)大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP242

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本文編號：2149571