【摘要】：隨著機(jī)器人的應(yīng)用越來(lái)越廣泛,所面對(duì)的工作環(huán)境越來(lái)越復(fù)雜,示教系統(tǒng)在機(jī)器人的使用操作中起著至關(guān)重要的作用。目前國(guó)內(nèi)主流的六軸機(jī)器人多依靠進(jìn)口,其示教系統(tǒng)多為封閉且難以二次開(kāi)發(fā)。同時(shí)國(guó)內(nèi)在機(jī)器人示教系統(tǒng)領(lǐng)域的研究也相對(duì)落后,而且欠缺能熟練操作機(jī)器人的技術(shù)型人才。因此本文研制一套六軸機(jī)器人仿真示教系統(tǒng),將示教器連接計(jì)算機(jī)仿真平臺(tái),取代傳統(tǒng)的與機(jī)器人相連的方式。該系統(tǒng)可以提供機(jī)器人的操作練習(xí),還可以將其用于對(duì)示教系統(tǒng)的進(jìn)一步研究。首先,對(duì)六軸機(jī)器人的運(yùn)動(dòng)學(xué)進(jìn)行分析研究。采用D-H表示法建立運(yùn)動(dòng)學(xué)模型,推導(dǎo)并求解六軸機(jī)器人的正逆運(yùn)動(dòng)學(xué)方程,并研究了在多組逆解中選取最優(yōu)解的問(wèn)題,最后通過(guò)編程進(jìn)行了仿真驗(yàn)證。其次,分析六軸機(jī)器人示教系統(tǒng)的使用需求,提出一種新型的機(jī)器人仿真示教器的總體設(shè)計(jì)方案。示教器的硬件設(shè)計(jì)是以STM32作為主控制器,兼容性好且便于移植,然后對(duì)以太網(wǎng)通信電路、鍵盤(pán)電路、觸摸屏通信電路等進(jìn)行了分析設(shè)計(jì)。在示教器的軟件設(shè)計(jì)上引入了實(shí)時(shí)操作系統(tǒng),保證了程序的穩(wěn)定性和良好的開(kāi)放性,并給出了主程序、以太網(wǎng)通信程序、鍵盤(pán)讀取程序等流程圖。該示教器可以通過(guò)以太網(wǎng)與計(jì)算機(jī)仿真平臺(tái)進(jìn)行連接,實(shí)現(xiàn)對(duì)三維仿真的機(jī)器人進(jìn)行控制。在六軸機(jī)器人運(yùn)動(dòng)學(xué)模型的基礎(chǔ)上,采用VC++和開(kāi)放圖形庫(kù)(Open GL)搭建機(jī)器人的三維模型。將Solid Works生成的模型文件導(dǎo)入VC++環(huán)境中,保證了模型的逼真準(zhǔn)確。該方法彌補(bǔ)了Open GL在繪制復(fù)雜圖形時(shí)工作量大、開(kāi)發(fā)效率低的缺陷和Solid Works軟件編程接口開(kāi)放性差的缺陷,大大提高了開(kāi)發(fā)效率。軌跡規(guī)劃是機(jī)器人運(yùn)動(dòng)控制的重要內(nèi)容,本文分析了關(guān)節(jié)空間中的幾種多項(xiàng)式插值規(guī)劃法,對(duì)笛卡爾空間中三段S曲線(xiàn)的直線(xiàn)插補(bǔ)法進(jìn)行改進(jìn),采用了五段S曲線(xiàn)規(guī)劃法,使機(jī)器人末端的運(yùn)行速度變化更平穩(wěn),并通過(guò)編程進(jìn)行驗(yàn)證。最后分析機(jī)器人示教系統(tǒng)的控制流程,在計(jì)算機(jī)仿真平臺(tái)上為機(jī)器人三維模型增加手動(dòng)控制和示教再現(xiàn)等功能,使該仿真示教系統(tǒng)能夠接近實(shí)際使用效果。并對(duì)機(jī)器人的碰撞檢測(cè)問(wèn)題進(jìn)行研究,保證機(jī)器人的安全運(yùn)行。實(shí)驗(yàn)結(jié)果表明,該仿真示教系統(tǒng)中的三維機(jī)器人模型構(gòu)建準(zhǔn)確且運(yùn)行流暢,功能使用正常。該方法具有一定的開(kāi)放性和可移植性,可以在此基礎(chǔ)上對(duì)機(jī)器人示教系統(tǒng)進(jìn)行進(jìn)一步的研究,還可以為操作人員提供一個(gè)安全方便的操作練習(xí)平臺(tái)。
[Abstract]:With the more and more extensive application of robot, the working environment is becoming more and more complex. Teaching system plays an important role in the operation of robot. At present, the mainstream six-axis robots mostly rely on imports, and their teaching systems are closed and difficult to be redeveloped. At the same time, the research in the field of robot teaching system is relatively backward, and lack of skilled robot technical personnel. Therefore, a six-axis robot simulation and teaching system is developed in this paper, which is connected with the computer simulation platform to replace the traditional way of connecting with the robot. The system can provide robot operation exercises and can be used to further study the teaching system. Firstly, the kinematics of six-axis robot is studied. The kinematics model is established by using D-H representation, and the forward and inverse kinematics equations of six-axis robot are deduced and solved. The problem of selecting the optimal solution in the multi-group inverse solution is studied. Finally, the simulation is carried out by programming. Secondly, the application requirement of the six-axis robot teaching system is analyzed, and a new design scheme of the robot simulation teacher is put forward. The hardware design of the teacher is based on STM32, which has good compatibility and is easy to transplant. Then, the Ethernet communication circuit, keyboard circuit and touch screen communication circuit are analyzed and designed. The real-time operating system is introduced into the software design of the teacher, which ensures the stability and good openness of the program. The flow chart of main program, Ethernet communication program and keyboard reading program is also given. The teacher can connect with the computer simulation platform through Ethernet to realize the control of the 3D simulation robot. Based on the kinematics model of six-axis robot, VC and (Open GL) are used to build the 3D model of robot. The model files generated by Solid Works are imported into VC environment to ensure the accuracy of the model. This method makes up for the defects of Open GL in drawing complex graphics, such as heavy workload, low development efficiency and poor opening of Solid Works software programming interface, and greatly improves the development efficiency. Trajectory planning is an important part of robot motion control. In this paper, several polynomial interpolation programming methods in joint space are analyzed. The linear interpolation method of three-segment S-curve in Cartesian space is improved, and the five-segment S-curve programming method is adopted. It makes the running speed of the robot end more stable and verified by programming. Finally, the control flow of the robot teaching system is analyzed, and the functions of manual control and teaching reappearance are added to the 3D model of the robot on the computer simulation platform, so that the simulation teaching system can approach the actual application effect. The collision detection problem of the robot is studied to ensure the safe operation of the robot. The experimental results show that the 3D robot model in the simulation teaching system is accurate and running smoothly, and the function is normal. This method has certain openness and portability, on the basis of which the robot teaching system can be further studied, and a safe and convenient operation platform can be provided for operators.
【學(xué)位授予單位】：江南大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類(lèi)號(hào)】：TP242

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本文編號(hào)：2260655