【摘要】：目前隨著自動(dòng)化產(chǎn)業(yè)在我國不斷的發(fā)展壯大,工業(yè)機(jī)器人的應(yīng)用也愈加廣泛。但是工業(yè)機(jī)器人產(chǎn)品面臨的主要問題是絕對(duì)定位精度不高,從而在機(jī)器人的離線編程使用過程中會(huì)常產(chǎn)生機(jī)器人的運(yùn)動(dòng)定位不準(zhǔn)確的問題,并且機(jī)器人中的一些簡單形狀的軌跡插補(bǔ)有時(shí)并不能滿足使用要求。本文針對(duì)此問題以SCARA機(jī)器人為主要研究對(duì)象,對(duì)其運(yùn)動(dòng)學(xué)模型誤差進(jìn)行了標(biāo)定及補(bǔ)償,并進(jìn)行了運(yùn)動(dòng)軌跡的規(guī)劃。本文基于修正的D-H模型(MD-H模型)對(duì)SCARA機(jī)器人進(jìn)行了運(yùn)動(dòng)學(xué)建模并求出了SCARA機(jī)器人的運(yùn)動(dòng)學(xué)正解及逆解。對(duì)SCARA機(jī)器人定位誤差及旋轉(zhuǎn)誤差來源進(jìn)行了分析,針對(duì)這兩種誤差及其來源分別建立了與其對(duì)應(yīng)的標(biāo)定模型及補(bǔ)償算法。在定位誤差的標(biāo)定中建立了位置誤差標(biāo)定模型與距離誤差標(biāo)定模型。在使用位置誤差標(biāo)定模型對(duì)機(jī)器人進(jìn)行標(biāo)定時(shí),首先需要測量機(jī)器人的基座標(biāo)系然后對(duì)其進(jìn)行擬合,以便后面在機(jī)器人的基座標(biāo)系下測量機(jī)器人的位置誤差,但是使用距離誤差模型可以直接進(jìn)行對(duì)機(jī)器人測量從而完成標(biāo)定。在完成基于激光跟蹤的定位誤差標(biāo)定研究后,又設(shè)計(jì)了一種更為方便快捷的基于四孔的位置誤差標(biāo)定方案。該方案中將一塊四孔標(biāo)定板放置在機(jī)器人的工作區(qū)域內(nèi),與固定在機(jī)器人末端執(zhí)行器上的插棒相互配合從而可獲得機(jī)器人的部分模型參數(shù)誤差。在機(jī)器人的定位誤差標(biāo)定完成后,選擇視覺系統(tǒng)作為測量工具來對(duì)機(jī)器人的旋轉(zhuǎn)誤差進(jìn)行標(biāo)定,同時(shí)發(fā)現(xiàn)采用視覺同樣可以對(duì)定位誤差進(jìn)行標(biāo)定且補(bǔ)償后能夠滿足使用要求。針對(duì)SCARA機(jī)器人的運(yùn)動(dòng)特點(diǎn),對(duì)其進(jìn)行了軌跡規(guī)劃�？紤]到機(jī)器人控制中現(xiàn)有的幾種簡單形狀的軌跡規(guī)劃如:圓弧和直線規(guī)劃等有時(shí)并不能滿足使用要求,因?yàn)闄C(jī)器人在工作過程中運(yùn)動(dòng)軌跡可能是不規(guī)則形狀或者具有某些復(fù)雜特征,于是決定采用NURBS曲線對(duì)機(jī)器人運(yùn)動(dòng)軌跡進(jìn)行插補(bǔ)。在插補(bǔ)時(shí)基于S型速度控制曲完成了機(jī)器人的加減速控制,然后基于弓高誤差對(duì)插補(bǔ)精度進(jìn)行了控制并據(jù)此完成了插補(bǔ)速度的規(guī)劃。
[Abstract]:At present, with the development of automation industry in China, the application of industrial robots is becoming more and more extensive. However, the main problem faced by industrial robot products is that the absolute positioning accuracy is not high, so the robot motion location is often inaccurate in the process of robot off-line programming. And some simple trajectory interpolation in robot sometimes can not meet the requirements. In order to solve this problem, the kinematics model error of SCARA robot is calibrated and compensated, and the trajectory planning is carried out. In this paper, based on the modified D-H model (MD-H model), the kinematics of SCARA robot is modeled and the forward and inverse kinematics solutions of SCARA robot are obtained. The source of positioning error and rotation error of SCARA robot is analyzed. The calibration model and compensation algorithm are established for the two kinds of errors and their sources. The calibration model of position error and the calibration model of distance error are established. When calibrating the robot with the position error calibration model, it is necessary to first measure the base system of the robot and then fit it so that the position error of the robot can be measured under the base system of the robot. However, the range error model can be used to measure the robot directly to complete the calibration. After completing the research of positioning error calibration based on laser tracking, a more convenient and fast calibration scheme of position error based on four holes is designed. In this scheme, a four-hole calibration plate is placed in the working area of the robot, and some model parameters error of the robot can be obtained by matching with the inserted rod fixed on the robot end actuator. After the positioning error calibration of the robot is completed, the vision system is chosen as the measuring tool to calibrate the robot rotation error, and it is found that the vision can also calibrate the positioning error and compensate it to meet the requirements of application. According to the motion characteristics of SCARA robot, trajectory planning is carried out. Considering that trajectory planning with several simple shapes available in robot control, such as arc and line planning, sometimes fails to meet the operational requirements, Because the robot motion trajectory may be irregular or has some complex characteristics in the working process, it is decided to use the NURBS curve to interpolate the robot motion trajectory. The acceleration and deceleration control of the robot is completed based on S-type velocity control curve in interpolation time, and then the interpolation accuracy is controlled based on the bow height error and the interpolation speed planning is completed accordingly.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242

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