發(fā)布時間：2018-06-03 15:52

  本文選題：機器人 + 標定　； 參考：《安徽工業(yè)大學》2017年碩士論文

【摘要】：多自由度串聯(lián)機械臂廣泛應用于工業(yè)生產(chǎn)、醫(yī)療手術(shù)、物流搬運等行業(yè)。經(jīng)過幾十年的發(fā)展工業(yè)機器人技術(shù)已經(jīng)趨于成熟,但隨著科技水平的提升,各行業(yè)對機器人的性能要求也越來越高。提升機器人性能,成為了當前機器人廠商的迫切目標。本文前半部分采用基于距離誤差的運動學標定方法,激光跟蹤儀對四軸碼垛機器人進行數(shù)據(jù)測量,辨識出機器人的名義參數(shù)誤差,補償后提高了機器人的絕對定位精度。首先使用D-H方法建立待標定機器人的運動學模型,并給出了詳細的正、逆運動學推導過程,利用matlab軟件進行運動學模型的仿真與驗證,驗證了運動學模型的有效性。之后分析機器人末端執(zhí)行器絕對定位誤差來源,介紹了距離誤差定義,并推導出了由距離誤差與連桿參數(shù)誤差之間的關系,建立距離誤差模型。搭建信息采集平臺,采集并儲數(shù)據(jù),依照誤差模型建立誤差方程。最后用最小二乘法和LM算法對誤差方程求解,Levenberg-Marquard算法由于沒有二次項舍去誤差,相比最小二乘法效果更好,精度提升了35%,距離誤差平均值由2.20mm減少到0.27mm。文章后半部分基于力矩控制實現(xiàn)了CY3A沖壓機器人的拖動示教。與傳統(tǒng)示教方法相比,直接示教操作簡單、對工人要求低、示教效率高、能夠?qū)崿F(xiàn)復雜軌跡示教,是示教技術(shù)的一個重要研究方向。免力矩傳感器的直接示教由于具有明顯的成本優(yōu)勢而受到了關注,本文基于力矩平衡的原理來實現(xiàn)機器人的免力矩傳感器直接示教。為了補償示教時的摩擦力矩,建立了關節(jié)摩擦模型,使用跟蹤微分器獲取準確的速度信號,按照庫倫—粘滯摩擦模型擬合出了每個關節(jié)的摩擦力曲線。對負載較重的關節(jié),利用跟蹤微分器得到加速度信號,計算慣性力并進行補償。補償后關節(jié)所需操作力小于20N,能夠?qū)崿F(xiàn)直接拖動示教。本文對泰禾光電的FR-120A型碼垛機器人進行了運動學標定,對CY3A型沖壓放料機器人實現(xiàn)了直接示教,論文中的理論也適用于其它類型的工業(yè)機器人,相關成果對提高機器人絕對定位精度、實現(xiàn)直接示教等具有指導意義。
[Abstract]:Multi-DOF series manipulator is widely used in industrial production, medical surgery, logistics handling and other industries. After decades of development, the technology of industrial robot has become mature, but with the improvement of science and technology, the performance requirements of robots are becoming more and more high. Improving the performance of robots has become an urgent goal of current robot manufacturers. In the first half of this paper, the kinematics calibration method based on distance error is used to measure the data of the four-axis palletizing robot with laser tracker, and the nominal parameter error of the robot is identified, and the absolute positioning accuracy of the robot is improved after compensation. First, the kinematics model of the robot to be calibrated is established by using D-H method, and the process of forward and inverse kinematics derivation is given in detail. The kinematics model is simulated and verified by matlab software, and the validity of the kinematics model is verified. Then, the source of absolute positioning error of robot end actuator is analyzed, the definition of distance error is introduced, the relationship between distance error and link parameter error is deduced, and the distance error model is established. Set up the information acquisition platform, collect and store the data, and establish the error equation according to the error model. Finally, Levenberg-Marquard algorithm is used to solve the error equation by using the least square method and LM algorithm. Because there are no quadratic terms, the accuracy of Levenberg-Marquard algorithm is better than that of the least square method, and the average distance error is reduced from 2.20mm to 0.27mm. In the second half of this paper, the drag teaching of CY3A stamping robot is realized based on torque control. Compared with the traditional teaching demonstration method, direct teaching operation is simple, the requirement for workers is low, teaching efficiency is high, and it can realize complex trajectory teaching, which is an important research direction of teaching demonstration technology. The direct teaching of torque free sensors has attracted much attention because of its obvious cost advantages. Based on the principle of torque balance, the direct teaching of robot torque free sensors is realized in this paper. In order to compensate the friction moment of teaching, the joint friction model was established, and the accurate velocity signal was obtained by using the tracking differentiator, and the friction curve of each joint was fitted according to the Coulomb viscous friction model. For the joints with heavy load, the acceleration signal is obtained by using the tracking differentiator, and the inertia force is calculated and compensated. After compensation, the required operating force of joint is less than 20 Ns, which can realize direct drag teaching. In this paper, the kinematic calibration of Taihe optoelectronic FR-120A type palletizing robot is carried out, and the direct teaching of CY3A type punching and discharging robot is realized. The theory in this paper is also suitable for other types of industrial robots. The related results are of guiding significance for improving the absolute positioning accuracy of the robot and realizing direct teaching.
【學位授予單位】：安徽工業(yè)大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP242.2

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本文編號：1973338