一种基于喷涂机器人的自适应运动控制系统研究与应用  

Research and Application on an Adaptive Motion Control System Based on Spray Robot

作　　者：李峰[1] 张雪松[1] 岳云 LI Feng ZHANG Xuesong YUE Yun(College of Information ＆ Business, Zhongyuan University of Technology, Zhengzhou Henan 450007, China Caterpillar （Zhengzhou） Co., Ltd., Zhengzhou Henan 450007, China)

机构地区：[1]中原工学院信息商务学院,河南郑州450007 [2]CATERPILLAR(郑州)有限公司,河南郑州450007

出　　处：《机床与液压》2017年第15期53-59,112,共8页Machine Tool & Hydraulics

基　　金：河南省科技攻关计划项目(122102210506);河南省教育厅重点科研项目(15A460042)

摘　　要：为了能够精确控制喷涂机器人的运动轨迹,运用D-H方法进行逆运动学分析,得到了机器人的导航定位解;通过机器人控制中的量程转换、脉冲数转换、运行位置的校验,进行实时监测与反馈控制,提出了机器人自适应运动控制策略。利用stl语言实现了机器人腰部、肩部、肘部的自适应运动控制,从而实现了机器人的精确运行。将该运动控制系统与微机及触摸屏结合,搭建了喷涂机器人数字化、智能化操作平台。将运动控制系统应用于实际生产,验证了机器人运动控制系统的高效性和稳定性,能够很好地适用于喷涂工作。In order to precisely control the trajectory of painting robots, the inverse kinematic solution of D-H method is used. The robot navigation positioning solutions were obtained. Through the range conversion and pulse-digital conversion, and the operative posi- tion checksum, implement real time monitoring and feedback control, an adaptive robot motion control strategy was proposed. The stl language was used to implement the robot of waist, shoulder, elbow adaptive motion control, enabling precise operation of the robot. With the computer and touch screen integrated with the motion control system, the spray robot of digital, intelligent platform was set up. The motion control system is applied to the practical produetion, which verifies the high effectiveness and stability of the robot motion control system, and can be well applied to spray work.

关 键 词：机器人 逆向运动学 量程 脉冲数 自适应 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]