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机械臂自动编程关键技术研究
其他题名Research on the Key Techniques in Automatic Programming
曹学为
学位类型工学博士
导师原魁
2015-05-28
学位授予单位中国科学院大学
学位授予地点中国科学院自动化研究所
学位专业控制理论与控制工程
关键词机械臂 自动编程 指令复用 康复训练机器人 步态曲线 Mechanical Arm Automatic Programming Instruction Reuse Rehabilitation Robot Gait Curve
摘要随着自动化技术的飞速发展,机械臂被广泛应用于加工对象装卸、搬运、焊接、喷涂、装配等许多自动化作业中。为了进一步提高机械臂的工作效率,本文对基于工作对象三维模型的工业机器人自动编程技术和无对象模型情况下的机器人自动编程方法进行了深入的研究。论文的主要工作和创新之处如下: 1、针对基于工作对象三维模型的工业机器人自动编程应用,提出了一种基于区域划分的路径规划方法。该方法以区域划分为基础,可在每个区域中进行优化路径规划,并在区域间生成安全过渡点。通过该方法可有效降低模型分析难度以及路径规划复杂度。 2、针对基于工作对象三维模型的工业机器人自动编程应用,提出了一种规划路径向实际控制指令的转化方法以及基于仿真过程的指令修正方法。并将该方法应用于基于三维模型的自动喷涂过程。仿真与实验验证了该方法的有效性。 3、针对基于工作对象三维模型的工业机器人自动编程应用,提出了一种加工指令复用方法。该方法以人机交互以及改进后的ICP算法为基础,可高效获取加工对象的模型与离线库中相同对象的模型之间的位姿偏差。在此基础上,通过对离线库中指令的转换可以快速获取加工指令。仿真与实验验证了该方法的有效性。 4、对无对象模型情况下的机器人自动编程问题进行了研究。针对下肢康复训练机器人自动编程应用,提出了基于双目立体视觉的步态数据获取方法和康复训练者步态曲线生成方法,并在此基础上实现了下肢康复训练机器人自动编程。仿真与实际实验验证了所提方法的有效性。 5、针对下肢康复训练机器人自动编程应用,设计并实现了一套兼具离线功能与在线功能的虚拟系统。离线部分用于对规划的轨迹进行验证,可有效地加速规划的进程;在线部分可与实际的控制系统进行在线通信,以传感器反馈的信息为基础可以完成对误差的分析以及可视化的过程,从而可为实际控制系统的改进提供方向。 最后,总结了全文的研究成果,并进一步展望了下一步可以开展的工作。
其他摘要With the rapid development of automation technology, mechanical arms are widely used in various automated operations such as handling, transportation, welding, spraying, assembling and so on. To further improve the work efficiency of mechanical arms, this dissertation deeply studies the key techniques in the automatic programming of industrial robots both with and without three dimensional model of the object to be processed. The main work and innovation points can be summarized as follows: 1. Aiming at automatic programming applications of industrial robots based on three dimensional model of the object, a path planning technique based on region division is proposed. This technique can plan better paths in each region and generate safe transitional points between regions at the same time. As a result, the difficulty in model analysis and the complexity in path planning are greatly reduced. 2. For automatic programming applications of industrial robots based on three dimensional model of the object, a method in which the planned paths are converted to the final real control instructions, as well as an instruction modification technique based on simulation is put forward. Meanwhile, we apply the proposed method to the automatic spraying process based on three dimensional model. Simulations and experiments have demonstrated the validity of the proposed method. 3. For automatic programming applications of industrial robots based on three dimensional model of the object, an instruction reusing method is proposed. Based on human-computer interaction and improved ICP algorithm, the proposed method can get the pose deviation efficiently between the processing model and the same model in the library. On this basis, the work instructions can be got rapidly through converting of the instructions in the library. Simulations and experiments verify the validity of the presented technique. 4. Robot automatic programming technique without a 3D model of the object is studied. For automatic programming of a lower limb rehabilitation robot, a gait data acquisition method based on binocular stereo vision, as well as a gait curve generation technique is proposed, on the foundation of which automatic programming of lower limb rehabilitation robot is realized. Simulations and real experiments verify the validity of the presented method. 5. For automatic programming of lower limb rehabilitation robot, a virtual system with both off-line and on-line function is develop...
其他标识符201218014628001
语种中文
文献类型学位论文
条目标识符http://ir.ia.ac.cn/handle/173211/6720
专题毕业生_博士学位论文
推荐引用方式
GB/T 7714
曹学为. 机械臂自动编程关键技术研究[D]. 中国科学院自动化研究所. 中国科学院大学,2015.
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