發(fā)布時間：2018-03-07 21:05

  本文選題：工業(yè)機器人　切入點：EtherCAT　出處：《山東大學(xué)》2017年碩士論文　論文類型：學(xué)位論文

【摘要】：工業(yè)機器人是面向工業(yè)領(lǐng)域的多關(guān)節(jié)機械手或多自由度的機器人。由于生產(chǎn)加工業(yè)向著自動化、智能化的方向發(fā)展,工業(yè)機器人的應(yīng)用行業(yè)和范圍一直在延伸,在人們的生活和生產(chǎn)中發(fā)揮了不可替代的作用。然而,用于高校的教學(xué)和培訓(xùn)的實體機器人卻少之又少,不能滿足學(xué)生對實體機器人操作的需求,這將影響高校開設(shè)機器人課程的教學(xué)效果�；�于這種情況,對機器人虛擬仿真系統(tǒng)的開發(fā)就顯得非常的關(guān)鍵。盡管目前許多研究者們在機器人的離線編程和虛擬仿真方面作了大量的工作,并且開發(fā)了一系列的仿真軟件,但是存在著仿真軟件與機器人產(chǎn)品配套、而不便應(yīng)用于其他類型的機器人的局限性;另外,實體機器人價格高,操作不方便等問題對高校開設(shè)機器人課程也造成一些不便。本論文結(jié)合實際工業(yè)機器人教學(xué)培訓(xùn)的需求,論文綜述了本課題研究的背景以及國內(nèi)外工業(yè)機器人的發(fā)展現(xiàn)狀,并且論述了機器人虛擬仿真系統(tǒng)的研究現(xiàn)狀和研究的意義。接下來,分析研究了一種開放性的、國際標準的實時以太網(wǎng)EtherCAT通信協(xié)議在機器人虛擬仿真系統(tǒng)中的實現(xiàn)方法,通過搭建主從站、以及利用數(shù)據(jù)幀和報文尋址方式,完成對機器人的通信與控制�？刂破飨到y(tǒng)通過EtherCAT協(xié)議建立了各種控制參數(shù)和命令的數(shù)據(jù)通信,建立工業(yè)機器人的控制通信系統(tǒng)架構(gòu)。為了研究機器人運動軌跡規(guī)劃和仿真跟蹤,對機器人的運動學(xué)理論作了研究。首先討論了物體在運動過程中的坐標變換,通過D-H參數(shù)法建立機器人連桿坐標系,得到各連桿參數(shù),進而對機器人的運動學(xué)方程進行了求解。在機器人的軌跡規(guī)劃方面,論文分析了關(guān)節(jié)空間中的三次多項式和五次多項式插值算法,笛卡爾空間中的直線軌跡插補算法和圓弧軌跡插補算法,并且通過MATLAB中的工具箱Robotics Toolbox利用五次多項式插值算法對機器人的軌跡規(guī)劃進行了仿真。論文最后論述了工業(yè)機器人虛擬仿真系統(tǒng)的設(shè)計,該系統(tǒng)是以六自由度工業(yè)機器人為模型,以Unity 3D為開發(fā)平臺,是基于EtherCAT的現(xiàn)場總線建立的一套機器人虛擬仿真系統(tǒng),達到了機器人的運動仿真效果。虛擬仿真平臺的軟件部分是在Unity 3D的編譯環(huán)境下,采用C#編程語言來設(shè)計的。該仿真系統(tǒng)主要實現(xiàn)的功能為:不僅使仿真軟件中的機器人能夠在控制命令的作用下單獨的進行運動規(guī)劃,真實再現(xiàn)機器人各運動關(guān)節(jié),實現(xiàn)仿真模擬;而且通過控制實體機器人運動的同時實現(xiàn)仿真軟件中的虛擬機器人運動,完成相同的運動軌跡,實現(xiàn)實時一致性。虛擬仿真軟件和實體的機器人控制系統(tǒng)構(gòu)成了本文的虛擬仿真系統(tǒng),并對仿真系統(tǒng)進行了實驗驗證。實驗結(jié)果表明,該仿真系統(tǒng)能夠?qū)崿F(xiàn)虛擬和現(xiàn)實機器人的同步運動,并且在運動的過程中虛擬和實體機器人的運動角度也是基本吻合的,可達到教學(xué)培訓(xùn)的需求。
[Abstract]:Industrial robots are multi-joint manipulators or multi-degree-of-freedom robots facing the industrial field. Due to the development of production and processing industry towards automation and intelligence, the application industry and scope of industrial robots have been extending. It has played an irreplaceable role in people's life and production. However, there are very few physical robots for teaching and training in colleges and universities, which cannot meet the needs of students for the operation of physical robots. This will affect the teaching effect of robot courses in colleges and universities. Although many researchers have done a lot of work in the field of robot off-line programming and virtual simulation, and developed a series of simulation software, However, there are limitations of simulation software matching with robot products, which is not suitable for other types of robots. In addition, the price of physical robots is high. Some problems, such as inconvenient operation, also cause some inconvenience to the course of robots in colleges and universities. In this paper, the background of the research and the development of industrial robots at home and abroad are summarized in combination with the needs of practical industrial robot teaching and training. The research status and significance of robot virtual simulation system are also discussed. Then, the implementation of an open and international standard real-time Ethernet EtherCAT communication protocol in robot virtual simulation system is analyzed. By building master and slave stations and using data frame and message addressing, the communication and control of the robot are accomplished. The controller system establishes the data communication of various control parameters and commands through EtherCAT protocol. The architecture of control communication system of industrial robot is established. In order to study the trajectory planning and simulation tracking of robot, the kinematics theory of robot is studied. Firstly, the coordinate transformation of object in the process of motion is discussed. The kinematics equations of the robot are solved by establishing the coordinate system of the connecting rod of the robot by D-H parameter method, and the kinematics equation of the robot is solved. In the aspect of the trajectory planning of the robot, the kinematics equation of the robot is solved. In this paper, the interpolation algorithms of cubic polynomial and quintic polynomial in joint space, linear trajectory interpolation algorithm in Cartesian space and arc trajectory interpolation algorithm are analyzed. And through the toolbox of MATLAB Robotics Toolbox, the fifth order polynomial interpolation algorithm is used to simulate the trajectory planning of the robot. Finally, the design of the virtual simulation system of industrial robot is discussed. The system is a virtual simulation system based on EtherCAT field bus, which is based on six degrees of freedom industrial robot model and Unity 3D development platform. The software part of the virtual simulation platform is based on the compiling environment of Unity 3D. The main functions of the simulation system are as follows: not only can the robot in the simulation software be able to carry out motion planning independently under the action of control command, but also the motion joints of the robot can be reproduced. By controlling the motion of the solid robot and realizing the virtual robot movement in the simulation software, the same motion trajectory can be achieved. The virtual simulation software and the robot control system of the entity constitute the virtual simulation system in this paper, and the simulation system is verified by experiments. The experimental results show that, The simulation system can realize the synchronous movement of virtual robot and real robot, and the motion angle of virtual robot and entity robot is basically consistent during the process of motion, which can meet the requirement of teaching and training.
【學(xué)位授予單位】：山東大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242

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