發(fā)布時(shí)間：2018-10-29 21:33

【摘要】：多軸直角坐標(biāo)機(jī)械手廣泛應(yīng)用于搬運(yùn)、裝配、焊機(jī)、涂膠等工業(yè)領(lǐng)域,有著廣闊的發(fā)展前景。對(duì)直角坐標(biāo)機(jī)械手的控制涉及到多個(gè)方面的內(nèi)容,需要保證控制系統(tǒng)的穩(wěn)定性、控制精度等。本文針對(duì)直角坐標(biāo)機(jī)械手的控制做了相應(yīng)的研究與設(shè)計(jì),主要包括控制系統(tǒng)總體架構(gòu)設(shè)計(jì),機(jī)械手軌跡規(guī)劃研究,機(jī)械手速度規(guī)劃及加減速度控制研究以及系統(tǒng)的軟硬件設(shè)計(jì)。本文主要包含三個(gè)部分內(nèi)容,第一部分具體分析了常見(jiàn)運(yùn)動(dòng)控制系統(tǒng)控制架構(gòu),并設(shè)計(jì)了"觸摸屏+專用多軸運(yùn)動(dòng)控制器+伺服驅(qū)動(dòng)系統(tǒng)"的直角坐標(biāo)機(jī)械手控制系統(tǒng)架構(gòu)。第二部分重點(diǎn)研究了直角坐標(biāo)機(jī)械手軌跡規(guī)劃問(wèn)題。分析了 Bezier曲線擬合算法及其優(yōu)缺點(diǎn),在其基礎(chǔ)上研究了反算控制的B樣條曲線擬合算法,通過(guò)仿真實(shí)驗(yàn)驗(yàn)證了該算法能夠克服Bezier曲線算法的不具備局部性的缺點(diǎn),滿足直角坐標(biāo)機(jī)械手的軌跡控制要求;此外還研究了直角坐標(biāo)機(jī)械手在三維空間中的插補(bǔ)控制算法包括空間直線插補(bǔ)和空間矢量圓弧插補(bǔ),仿真驗(yàn)證了算法的有效性,為機(jī)械手的實(shí)際控制提供了理論基礎(chǔ)。第三部分具體分析了常見(jiàn)加減速算法模型的優(yōu)缺點(diǎn),以梯形加減速模型為基礎(chǔ),結(jié)合前瞻控制思想,提出了機(jī)械手連續(xù)小線段路徑速度規(guī)劃方法,并通過(guò)仿真驗(yàn)證該算法提高了機(jī)械手平臺(tái)的運(yùn)行效率。另外基于S型加減速模型,提出一種預(yù)加減速策略,保證直角坐標(biāo)機(jī)械手在加工路徑的起點(diǎn)和終點(diǎn)速度保持為給定的工藝加工速度;并且給出了多段連續(xù)加工路徑銜接點(diǎn)處速度規(guī)劃策略,經(jīng)仿真驗(yàn)證表明該控制策略能夠保證路徑連接點(diǎn)速度保持為工藝加工設(shè)定速度,從而改善機(jī)械手加工效果,降低對(duì)機(jī)械手平臺(tái)的沖擊,該控制方法簡(jiǎn)單高效,具有很高的實(shí)用價(jià)值。本文最后對(duì)直角坐標(biāo)機(jī)械手軟硬件設(shè)計(jì)做了說(shuō)明。介紹了驅(qū)動(dòng)器信號(hào)接線、I/O接線、伺服驅(qū)動(dòng)器設(shè)置。給出了多軸運(yùn)動(dòng)控制器程序包括主程序、回原點(diǎn)程序、示教程序設(shè)計(jì)流程,并設(shè)計(jì)了機(jī)械手觸摸屏控制界面。
[Abstract]:Multi-axis Cartesian manipulator is widely used in industrial fields such as handling, assembling, welding machine, glue coating and so on. The control of Cartesian manipulator involves many aspects, so it is necessary to ensure the stability and precision of the control system. This paper studies and designs the control of Cartesian manipulators, including the overall architecture of the control system, the trajectory planning of the manipulator, the speed planning and the speed control of the manipulator, as well as the software and hardware design of the system. This paper mainly includes three parts. In the first part, the control architecture of common motion control system is analyzed in detail, and the control system architecture of "multi-axis motion controller servo drive system for touch screen" is designed. The second part focuses on the trajectory planning of rectangular manipulator. Based on the analysis of Bezier curve fitting algorithm and its advantages and disadvantages, the B-spline curve fitting algorithm of inverse control is studied. The simulation results show that the algorithm can overcome the shortcoming of Bezier curve algorithm without locality. Meet the trajectory control requirements of Cartesian manipulator; In addition, the interpolation control algorithms of Cartesian manipulators in three-dimensional space are studied, including spatial linear interpolation and space vector circular arc interpolation. The simulation results show the validity of the algorithm and provide a theoretical basis for the practical control of the manipulator. In the third part, the advantages and disadvantages of common acceleration and deceleration algorithm models are analyzed in detail. Based on trapezoidal acceleration and deceleration model, a path speed planning method for continuous small segment of manipulator is proposed, which is based on trapezoidal acceleration and deceleration model and combined with the idea of forward looking control. The simulation results show that the algorithm improves the efficiency of the manipulator platform. In addition, based on the S-type acceleration and deceleration model, a pre-acceleration and deceleration strategy is proposed to ensure that the starting and ending speeds of the Cartesian manipulator are kept at the given processing speed. The speed planning strategy at the junction point of multi-segment continuous machining path is given. The simulation results show that the control strategy can ensure that the velocity of the path connecting point can be kept as the set speed of the process, thus improving the machining effect of the manipulator. The control method is simple and efficient and has high practical value. Finally, the software and hardware design of rectangular manipulator is explained. The driver signal connection, I / O connection and servo driver setting are introduced. The program of the multi-axis motion controller includes the main program, the program of returning the origin, the design flow of the teaching program, and the control interface of the touch screen of the manipulator.
【學(xué)位授予單位】：安徽工程大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP273;TP241

【參考文獻(xiàn)】

相關(guān)期刊論文 前10條

1 倪曉偉;劉建群;許東偉;高偉強(qiáng);;減少?zèng)_擊的五段S曲線加減速新算法研究[J];機(jī)床與液壓;2016年17期

2 史步海;孫會(huì)會(huì);;基于新S型速度規(guī)劃的B樣條曲線算法研究[J];機(jī)床與液壓;2016年15期

3 藍(lán)天鵬;;多軸聯(lián)動(dòng)數(shù)控系統(tǒng)連續(xù)小線段速度前瞻規(guī)劃[J];電子設(shè)計(jì)工程;2015年19期

4 劉強(qiáng);劉煥;周勝凱;李傳軍;袁松梅;;連續(xù)多類型曲線段進(jìn)給速度前瞻規(guī)劃[J];計(jì)算機(jī)集成制造系統(tǒng);2015年09期

5 韓江;江本赤;夏鏈;李大柱;;基于輪廓關(guān)鍵點(diǎn)的B樣條曲線擬合算法[J];應(yīng)用數(shù)學(xué)和力學(xué);2015年04期

6 馬永超;;一種五段S曲線加減速算法的研究[J];工業(yè)控制計(jì)算機(jī);2014年12期

7 劉筱;吳文江;鄭樎默;;柔性S型加減速控制算法研究[J];組合機(jī)床與自動(dòng)化加工技術(shù);2014年03期

8 史中權(quán);葉文華;;多軸聯(lián)動(dòng)條件下插補(bǔ)速度實(shí)時(shí)可調(diào)的前瞻控制算法[J];航空學(xué)報(bào);2014年02期

9 董靖川;王太勇;王自靜;李勃;丁彥玉;蔣永翔;;通用型前瞻速度規(guī)劃算法[J];計(jì)算機(jī)集成制造系統(tǒng);2013年03期

10 彭芳;黎萍;周文輝;;直角坐標(biāo)機(jī)械手多軸聯(lián)動(dòng)路徑規(guī)劃研究[J];組合機(jī)床與自動(dòng)化加工技術(shù);2012年07期

相關(guān)碩士學(xué)位論文 前6條

1 陳涵宇;基于B樣條曲線逼近算法的研究[D];南京信息工程大學(xué);2016年

2 油建彪;注塑機(jī)專用機(jī)械手控制系統(tǒng)的設(shè)計(jì)[D];山東大學(xué);2015年

3 楊金橋;基于PLC的上下料機(jī)械手[D];浙江工業(yè)大學(xué);2014年

4 趙波;四自由度微車焊接機(jī)械手控制系統(tǒng)研究與設(shè)計(jì)[D];武漢理工大學(xué);2012年

5 張野;太陽(yáng)能硅片移送用三自由度機(jī)械手的研究[D];哈爾濱工業(yè)大學(xué);2011年

6 卞洪元;基于PLC控制的工業(yè)機(jī)器人系統(tǒng)的研究與實(shí)現(xiàn)[D];東南大學(xué);2005年

，

本文編號(hào)：2298891