基于DSP的焊裝機(jī)器人控制算法研究與仿真設(shè)計(jì)
發(fā)布時間：2019-02-20 09:59
【摘要】：機(jī)器人應(yīng)用于工業(yè)生產(chǎn)的各個領(lǐng)域,在當(dāng)今社會日益自動化、信息化的趨勢下,研究六自由度焊接機(jī)器人的控制算法及在DSP上的實(shí)現(xiàn),具有深刻的現(xiàn)實(shí)意義。在汽車車身焊接工藝中,要求焊裝機(jī)器人實(shí)現(xiàn)車身部件的各類焊接操作,其對機(jī)器人的實(shí)時控制要求最為迫切。本文在研究單臺六自由度焊裝機(jī)器人動力學(xué)的基礎(chǔ)上,研究了實(shí)現(xiàn)其關(guān)節(jié)電機(jī)控制的實(shí)時性算法,最優(yōu)化焊接操作路徑,實(shí)現(xiàn)了DSP與上位機(jī)通信互聯(lián),并在MATLAB軟件下對算法進(jìn)行仿真設(shè)計(jì),將其應(yīng)用于實(shí)際生產(chǎn)現(xiàn)場的離線虛擬調(diào)試,取得了一定的效果。首先,本文針對六自由度焊接機(jī)器人應(yīng)用領(lǐng)域和研究背景做了相關(guān)介紹,指出要在DSP上實(shí)現(xiàn)對機(jī)器人關(guān)節(jié)電機(jī)的控制,必須研究六自由度焊裝機(jī)器人的逆動力學(xué)控制算法并進(jìn)行仿真設(shè)計(jì)。其次,針對六自由度焊裝機(jī)器人控制實(shí)時性問題,利用TMS320LF2812型DSP芯片,通過其高速數(shù)字信號處理能力,實(shí)時對焊接機(jī)器人進(jìn)行動力學(xué)方程逆運(yùn)算,以求解控制模型的前饋補(bǔ)償,并以C語言對算法進(jìn)行編程,從而實(shí)現(xiàn)算法的可用性。研究了應(yīng)用DSP片上資源實(shí)現(xiàn)機(jī)器人關(guān)節(jié)電機(jī)控制的PWM控制算法。通過DSP片上微控制系統(tǒng)生成了機(jī)器人各軸關(guān)節(jié)電機(jī)的實(shí)時PWM控制波形,利用所生成的控制波形進(jìn)行典型的圓弧路徑插補(bǔ)運(yùn)動。利用DSP片上微控制系統(tǒng)對關(guān)節(jié)電機(jī)編碼器信號進(jìn)行實(shí)時處理,實(shí)現(xiàn)模型的反饋輸入,提高對各軸關(guān)節(jié)電機(jī)控制的實(shí)時精度。再次,在研究了DSP片上微控制系統(tǒng)控制機(jī)器人各關(guān)節(jié)電機(jī)實(shí)現(xiàn)軌跡插補(bǔ)的基礎(chǔ)上,進(jìn)行機(jī)器人點(diǎn)位/連續(xù)運(yùn)動時軌跡規(guī)劃,在DSP片上微控制系統(tǒng)上對算法進(jìn)行仿真設(shè)計(jì),并優(yōu)化路徑以使工藝過程能量最優(yōu),在引入了機(jī)器人實(shí)際生產(chǎn)環(huán)境等各類約束條件下,求解滿足一定效費(fèi)比的最優(yōu)工作路徑,并給出了20個焊點(diǎn)以及路徑點(diǎn)的最優(yōu)坐標(biāo)值。最后,對DSP片上微控制系統(tǒng)與上位機(jī)的串口通信進(jìn)行了實(shí)驗(yàn)驗(yàn)證,對二次曲面的插補(bǔ)路徑跟蹤進(jìn)行了仿真設(shè)計(jì)。驗(yàn)證了DSP對機(jī)器人各關(guān)節(jié)電機(jī)進(jìn)行實(shí)時控制所需串口通信,同時驗(yàn)證了DSP求解機(jī)器人逆動力學(xué)算法的可行性。在仿真設(shè)計(jì)中,在MATLAB仿真環(huán)境下建立了機(jī)器人桿系模型,在西門子PLM軟件Process Simulate下建立了機(jī)器人實(shí)物模型,利用所建立的機(jī)器人桿系模型與DSP所生產(chǎn)的PWM波控制機(jī)器人進(jìn)行插補(bǔ)運(yùn)動,驗(yàn)證了基于DSP的機(jī)器人關(guān)節(jié)電機(jī)控制算法。
[Abstract]:The robot is applied in every field of industrial production. Under the trend of automation and information, it is of great practical significance to study the control algorithm of 6-DOF welding robot and its realization on DSP. In the automobile body welding process, the welding robot is required to realize all kinds of welding operation of the body parts, and the real-time control of the robot is the most urgent. Based on the study of dynamics of a single six-degree-of-freedom welding robot, the real-time control algorithm of joint motor is studied, the welding operation path is optimized, and the communication between DSP and upper computer is realized. The algorithm is simulated and designed in MATLAB software, and it is applied to the off-line virtual debugging of actual production site, and some results are obtained. Firstly, this paper introduces the application field and research background of six-degree-of-freedom welding robot, and points out that the control of robot joint motor should be realized on DSP. The inverse dynamic control algorithm of six degrees of freedom welding robot must be studied and simulated. Secondly, aiming at the real-time control problem of six degrees of freedom welding robot, by using TMS320LF2812 DSP chip and its high-speed digital signal processing ability, the dynamic equations of welding robot are inversed in real time to solve the feedforward compensation of the control model. The algorithm is programmed in C language to realize the usability of the algorithm. The PWM control algorithm of robot joint motor control based on DSP is studied. The real-time PWM control waveform of each axis joint motor of the robot is generated by the DSP chip microcontrol system, and the typical arc path interpolation motion is carried out by using the generated control waveform. The signal of joint motor encoder is processed in real time by using DSP chip micro control system to realize the feedback input of the model and improve the real time precision of the control of each shaft joint motor. Thirdly, on the basis of studying the trajectory interpolation of each joint motor of the robot controlled by the micro-control system on the DSP chip, the trajectory planning of the robot point position / continuous motion is carried out, and the algorithm is simulated and designed on the DSP chip micro-control system. In order to optimize the process energy, the optimal working path satisfying a certain cost efficiency ratio is solved under various constraints such as the actual production environment of the robot, and the optimal coordinates of 20 solder joints and path points are given. Finally, the serial communication between the DSP microcontroller system and the host computer is verified experimentally, and the interpolation path tracking of the Quadric surface is simulated and designed. The serial communication required by DSP for real-time control of robot joint motor is verified, and the feasibility of solving the inverse dynamics algorithm of robot by DSP is verified at the same time. In the simulation design, the robot rod model is established under the MATLAB simulation environment, and the robot real object model is established under the Siemens PLM software Process Simulate. By using the established robot bar model and the PWM wave control robot produced by DSP to interpolate the motion, the robot joint motor control algorithm based on DSP is verified.
【學(xué)位授予單位】：重慶理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242
本文編號：2427072
[Abstract]:The robot is applied in every field of industrial production. Under the trend of automation and information, it is of great practical significance to study the control algorithm of 6-DOF welding robot and its realization on DSP. In the automobile body welding process, the welding robot is required to realize all kinds of welding operation of the body parts, and the real-time control of the robot is the most urgent. Based on the study of dynamics of a single six-degree-of-freedom welding robot, the real-time control algorithm of joint motor is studied, the welding operation path is optimized, and the communication between DSP and upper computer is realized. The algorithm is simulated and designed in MATLAB software, and it is applied to the off-line virtual debugging of actual production site, and some results are obtained. Firstly, this paper introduces the application field and research background of six-degree-of-freedom welding robot, and points out that the control of robot joint motor should be realized on DSP. The inverse dynamic control algorithm of six degrees of freedom welding robot must be studied and simulated. Secondly, aiming at the real-time control problem of six degrees of freedom welding robot, by using TMS320LF2812 DSP chip and its high-speed digital signal processing ability, the dynamic equations of welding robot are inversed in real time to solve the feedforward compensation of the control model. The algorithm is programmed in C language to realize the usability of the algorithm. The PWM control algorithm of robot joint motor control based on DSP is studied. The real-time PWM control waveform of each axis joint motor of the robot is generated by the DSP chip microcontrol system, and the typical arc path interpolation motion is carried out by using the generated control waveform. The signal of joint motor encoder is processed in real time by using DSP chip micro control system to realize the feedback input of the model and improve the real time precision of the control of each shaft joint motor. Thirdly, on the basis of studying the trajectory interpolation of each joint motor of the robot controlled by the micro-control system on the DSP chip, the trajectory planning of the robot point position / continuous motion is carried out, and the algorithm is simulated and designed on the DSP chip micro-control system. In order to optimize the process energy, the optimal working path satisfying a certain cost efficiency ratio is solved under various constraints such as the actual production environment of the robot, and the optimal coordinates of 20 solder joints and path points are given. Finally, the serial communication between the DSP microcontroller system and the host computer is verified experimentally, and the interpolation path tracking of the Quadric surface is simulated and designed. The serial communication required by DSP for real-time control of robot joint motor is verified, and the feasibility of solving the inverse dynamics algorithm of robot by DSP is verified at the same time. In the simulation design, the robot rod model is established under the MATLAB simulation environment, and the robot real object model is established under the Siemens PLM software Process Simulate. By using the established robot bar model and the PWM wave control robot produced by DSP to interpolate the motion, the robot joint motor control algorithm based on DSP is verified.
【學(xué)位授予單位】：重慶理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242
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