裝配機(jī)器人作業(yè)過程控制系統(tǒng)應(yīng)用與軟件開發(fā)
發(fā)布時(shí)間：2018-10-19 20:38
【摘要】：裝配是產(chǎn)品生產(chǎn)的后續(xù)工序,與其他應(yīng)用如焊接、噴漆、搬運(yùn)相比,裝配機(jī)器人需要經(jīng)常與環(huán)境進(jìn)行交互,并且對接觸力控制有一定的要求。傳統(tǒng)的位置控制型機(jī)器人往往無法滿足裝配任務(wù)的需求,因此需要在機(jī)器人控制系統(tǒng)中引入柔順環(huán)節(jié)。本文結(jié)合具體應(yīng)用開發(fā)項(xiàng)目,圍繞工件柔順放置、孔軸裝配等典型任務(wù)需求,系統(tǒng)地研究了機(jī)器人主動(dòng)柔順裝配中的關(guān)鍵技術(shù),開發(fā)了裝配機(jī)器人作業(yè)過程控制樣例系統(tǒng)。論文首先分析了裝配機(jī)器人任務(wù)需求,闡述了裝配機(jī)器人應(yīng)具有的功能。硬件系統(tǒng)方面構(gòu)建了以工業(yè)機(jī)器人、六維力傳感器、電動(dòng)抓手與PC機(jī)組成的裝配機(jī)器人柔順控制系統(tǒng)。機(jī)械結(jié)構(gòu)方面設(shè)計(jì)與制作了各模塊之間的轉(zhuǎn)接件,力傳感器、抓手、相機(jī)安裝在機(jī)械臂末端。軟件系統(tǒng)方面設(shè)計(jì)與開發(fā)了以機(jī)器人控制器、PC機(jī)、六維力傳感器組成的三級(jí)客戶端服務(wù)器架構(gòu)。首先設(shè)計(jì)了裝配機(jī)器人柔順控制軟件系統(tǒng)結(jié)構(gòu),解決了各個(gè)通信線程以及界面管理線程之間通信與同步的問題,實(shí)現(xiàn)了抓手控制、機(jī)器人控制器以太網(wǎng)通信、六維力傳感器數(shù)據(jù)采集與顯示；針對典型的工件柔順放置作業(yè),分析了裝配任務(wù)流程,設(shè)計(jì)了針對力控任務(wù)的XML流應(yīng)用層通信協(xié)議,開發(fā)了協(xié)議解析程序,實(shí)現(xiàn)了基于導(dǎo)納控制的力位混合控制算法；針對多維力控任務(wù),包括引導(dǎo)示教、有倒角插孔、無倒角插孔(包括尋孔),解決了六維力傳感器重力補(bǔ)償問題,對插孔任務(wù)各階段子任務(wù)進(jìn)行了受力分析,在此基礎(chǔ)上設(shè)計(jì)了控制策略。最終結(jié)合裝配機(jī)器人視覺定位功能模塊,完成了裝配機(jī)器人作業(yè)過程控制系統(tǒng)軟件集成演示評估,綜合測試了系統(tǒng)各模塊功能,驗(yàn)證了機(jī)器人柔順放置、柔順插孔、視覺糾偏等典型作業(yè)功能,實(shí)現(xiàn)了預(yù)期任務(wù)目標(biāo)。
[Abstract]:Assembly is the follow-up process of product production. Compared with other applications such as welding, painting, handling, assembly robot often needs to interact with the environment, and has certain requirements for contact force control. The traditional position control robot can not meet the requirements of assembly task, so it is necessary to introduce compliance into the robot control system. In this paper, the key technologies of active compliance assembly of robot are systematically studied, and a sample system of job process control for assembly robot is developed according to the requirements of typical tasks, such as workpiece compliance placement and hole shaft assembly, combined with the specific application development project. Firstly, the task requirement of assembly robot is analyzed, and the function of assembly robot is expounded. In terms of hardware system, an assembly robot compliance control system composed of industrial robot, six-axis force sensor, electric gripper and PC machine is constructed. In terms of mechanical structure, the transfer parts, force sensors, gripper and camera between modules are designed and fabricated at the end of the arm. In the aspect of software system, a three-level client and server architecture composed of robot controller, PC machine and six-axis force sensor is designed and developed. Firstly, the software structure of assembly robot compliance control is designed, which solves the problem of communication and synchronization between each communication thread and interface management thread, realizes grip control and robot controller Ethernet communication. The data acquisition and display of six-dimensional force sensor, the analysis of assembly task flow, the design of XML application layer communication protocol for force control task, and the development of protocol analysis program are also presented. The hybrid force position control algorithm based on admittance control is realized, and the gravity compensation problem of six dimensional force sensor is solved for multi-dimensional force control tasks, including instruction, chamfering Jack and no chamfer Jack (including hole searching). On the basis of the stress analysis of each stage of the Jack task, the control strategy is designed. Finally, combined with the assembly robot visual positioning function module, completed the assembly robot job process control system software integration demonstration evaluation, comprehensively tested the system each module function, verified the robot compliant placement, the compliance Jack, Visual correction and other typical job functions to achieve the expected task objectives.
【學(xué)位授予單位】：東南大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2016
【分類號(hào)】：TP242
[Abstract]:Assembly is the follow-up process of product production. Compared with other applications such as welding, painting, handling, assembly robot often needs to interact with the environment, and has certain requirements for contact force control. The traditional position control robot can not meet the requirements of assembly task, so it is necessary to introduce compliance into the robot control system. In this paper, the key technologies of active compliance assembly of robot are systematically studied, and a sample system of job process control for assembly robot is developed according to the requirements of typical tasks, such as workpiece compliance placement and hole shaft assembly, combined with the specific application development project. Firstly, the task requirement of assembly robot is analyzed, and the function of assembly robot is expounded. In terms of hardware system, an assembly robot compliance control system composed of industrial robot, six-axis force sensor, electric gripper and PC machine is constructed. In terms of mechanical structure, the transfer parts, force sensors, gripper and camera between modules are designed and fabricated at the end of the arm. In the aspect of software system, a three-level client and server architecture composed of robot controller, PC machine and six-axis force sensor is designed and developed. Firstly, the software structure of assembly robot compliance control is designed, which solves the problem of communication and synchronization between each communication thread and interface management thread, realizes grip control and robot controller Ethernet communication. The data acquisition and display of six-dimensional force sensor, the analysis of assembly task flow, the design of XML application layer communication protocol for force control task, and the development of protocol analysis program are also presented. The hybrid force position control algorithm based on admittance control is realized, and the gravity compensation problem of six dimensional force sensor is solved for multi-dimensional force control tasks, including instruction, chamfering Jack and no chamfer Jack (including hole searching). On the basis of the stress analysis of each stage of the Jack task, the control strategy is designed. Finally, combined with the assembly robot visual positioning function module, completed the assembly robot job process control system software integration demonstration evaluation, comprehensively tested the system each module function, verified the robot compliant placement, the compliance Jack, Visual correction and other typical job functions to achieve the expected task objectives.
【學(xué)位授予單位】：東南大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2016
【分類號(hào)】：TP242
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