六轴工业机器人控制系统的研究与实现

分类号学号201204703015学校代码10488密级硕士学位论文六轴工业机器人控制系统的研究与实现学位申请人：施文龙学科专业：电路与系统指导教师：闵华松答辩日期：2015年5月22日ADissertationSubmittedinPartialFulfillmentoftheRequirementsfortheDegreeofMasterinEngineeringResearchandDesignofControlSystemfor6-axisIndustialRobotMasterCandidate：WenlongShiMajor：CircuitandSystemsSupervisor：Prof.HuasongMinWuhanUniversityofScienceandTechnologyWuhan,Hubei430081,P.R.ChinaMay,2015II摘要工业机器人在汽车、电子行业等很多领域得到日益广泛的应用。作为工业机器人系统的核心组成部分，控制系统一直是机器人领域研究的热点。目前，成熟而有竞争力的工业机器人控制系统需具备至少两个条件：开放性和模块化；前者采用开放的系统结构可以方便地更新和拓展机器人控制系统的功能，使得机器人性能得到增强；后者使得控制系统在硬件层面容易搭建、在软件层面结构清晰，从而机器人的可靠性得以提高。本文在对现有机器人控制系统进行研究的基础之上，设计了一套开放式机器人控制系统，控制器采用双级结构，底部采用DMC-2163控制卡，对机器人的各个关节进行运动控制，顶层的工控机用于管理系统和轨迹规划等。首先介绍了机器人的数学基础，对机器人进行D-H建模并推出机器人的运动学方程；然后给出了控制系统的总体设计以及硬件架构，并对各硬件组成部分进行了介绍，简要讲述了DMC-2163的使用；接着对机器人直角坐标空间的轨迹规划进行了研究，研究了直线、圆弧和NURBS插补算法并进行基于MATLAB平台的仿真；最后，对控制系统的软件部分进行了总体实现，软件由Qt4.8可视化编程实现对机器人的控制及人机交互界面功能。通过对系统进行模块化的测试，以及通过机械臂末端执行器运动轨迹实际测试，证明了设计的控制系统的有效性和可靠性。关键词：工业机器人；控制系统；DMC；轨迹规划；QtIIIAbstractIndustrialrobotsarewidelyusedincreasinglyinfieldssuchasautomobileindustryandelectronicsindustry.Asacorepartoftheindustrialrobot,thecontrolsystemhasbeenthehotspotresearchedinthefieldofrobot.Currently,matureandcompetitiveindustrialrobotcontrolsystemsneedtohaveatleasttwoconditions:Opennessandmodularity;theformeradoptsopeningframesystemmakingitconvenienttoupdateandextendthefunctionoftherobotcontrolsystem,thentherobotperformanceisenhanced;thelattermakesthecontrolsystemeasytosetupatthehardwarelevel,andthestructureclearatthesoftwarelevel,thusthereliabilityoftherobotcanbeimproved.Onthebasisofstudyingexistingrobotcontrolsystem,thispaperdesignsasetofopenone,whosecontrollerusestwo-stagestructure.TheDMC-2163isusedinthebottomforcontrollingjoinsoftherobot,andthetopindustrialcomputerisadoptedforsystemmanagementandtrajectoryplanning.Firstly,themathematicalbasisoftherobotisintrduced.KinematicsequationsoftherobotarecalculatedandobtainedbymodelingofD-Hfortherobot.Thentheoveralldesignofthecontrolsystemandhardwarearchitectureisputforward,andhardwarecomponentsespeciallyDMC-2163areintroduced.Consideringtheimportanceofit,thetrajectoryplanningofrobotcartesiancoordinatespaceisstudied.Thispaperpresentstheinterpolationalgorithmincludinglinear,circularandNURBSinterpolationindetail,alsosimulationexperimentswerecarriedoutforthesealgorithmbasedonMATLABplatform.Atlast,thispapergivestheoverallrealizationofthesoftwarepartofthecontrolsystem,andthesoftwareisdevelopedwithQt4.8torealizecontrollingtherobotandman-machineinteractivefunction.Duringtestingthecontrolsystem,modulesworkswellandfinalexecutingmanipulatoroftherobotdrawstheexpectedtrajectoryintheactualexperiments,whichprovesthatthecontrolsystemisvalidandreliable.Keywords:Industrialrobot;controlsystem;DMC;trajectoryplanning;QtIV目录摘要.......................................................................................................................................IIABSTRACT............................................................................................................................III第1章绪论.............................................................................................................................11.1研究背景及意义........................................................................................................11.2国内外研究现状........................................................................................................21.3研究目的和研究内容...............................................................................................41.4主要章节安排............................................................................................................5第2章UPR100机器人机械结构和运动学分析...............................................................62.1机器人的运动学研究...............................................................................................62.1.1空间中物体的位置和姿态描述...................................................................62.1.2空间中坐标系的映射....................................................................................72.1.3空间中坐标的齐次变换................................................................................82.1.4机器人关节运动方程的表示.......................................................................92.2机器人的机械本体...................................................................................................92.3机器人D-H模型.......................................................................................................92.4机器人运动学分析.................................................................................................112.4.1正运动学.......................................................................................................112.4.2逆运动学.......................................................................................................132.5本章小结..................................................................................................................13第3章工业机器人的控制系统总体方案........................................................................143.1控制系统硬件架构.......................................