喷涂机器人高精度运动控制算法研究  

Research on High Precision Control Algorithm for Spraying Robot

作　　者：陈颖峰[1,2] 王玉红[3] 胡祝兵[2] 阎宏伟 

机构地区：[1]河北省高等学校工业数据通信与自动化仪表应用技术研发中心研发部,河北承德067000 [2]承德石油高等专科学校电气与电子工程系,河北承德067000 [3]解放军第二六六医院信息科,河北承德067000 [4]哈尔滨工程大学机电工程学院,哈尔滨150001

出　　处：《组合机床与自动化加工技术》2017年第3期68-73,共6页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家自然科学基金项目资助(51279221;51179035)

摘　　要：针对6自由度喷涂机器人的运动控制问题,进行了相关高精度控制算法的研究。首先,建立了基于D-H法的连杆坐标系,其次从正、逆运动学建模两个方面对喷涂机器人进行了运动控制描述。分别通过Manocha消元法和拟牛顿迭代法对喷涂机器人逆运动学在示教再现和连续轨迹的应用场景下的计算方法进行了系统研究。最后,利用MATLAB绘图工具箱对研究结果进行了仿真实验,验证了正、逆运动学正确性和逆运动学的快速性和高效性。该算法改进了消元法中运算时间长达秒级的问题,使逆解算法可实际运用于机器人实时控制系统中。Aiming at the motion control problem of 6 DOF painting robots,the related algorithms are studied. Firstly,the link coordinate system based on D-H method is established. Secondly,the motion control of the painting robot is described from two aspects： the forward and inverse kinematics modeling. The Manocha elimination method and quasi-Newton iteration method are used to study the inverse kinematics of the painting robot in teaching scenes reproduction and continuous trajectory application. Finally,the simulation results of the research are simulated by MATLAB toolbox. The correctness and inverse kinematics of the forward and inverse kinematics are proved to be fast and efficient. The algorithm improves the computing time of the elimination method up to the second level,so that the inverse algorithm can be applied to the real-time control system of the robot.

关 键 词：6自由度 喷涂机器人 斜交腕 运动学仿真 D-H法 

分 类 号：TH166[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]