CASIA OpenIR  > 毕业生  > 硕士学位论文
喷涂机器人自动编程技术研究
Alternative TitleA Study Of Automatic Programming Technology
曹学为
Subtype工程硕士
Thesis Advisor原魁
2012-05-30
Degree Grantor中国科学院研究生院
Place of Conferral中国科学院自动化研究所
Degree Discipline控制理论与控制工程
Keyword三维建模 Tof相机 自动编程 Three-dimentional Model Constructed Tof Camera Automatic Programming
Abstract利用智能传感技术与智能机器人技术快速、准确建立物体三维模型,并在此基础上实现机器人自主编程,对提高机器人系统喷涂效率和喷涂质量具有重要意义。本文针对机器人喷涂系统的实际应用,对根据三维模型进行机器人自动编程和自动喷涂等关键技术进行了深入研究。主要工作和创新之处包括: 第一,针对模型数据结构以及喷涂机器人特点提出适合喷涂机器人进行工作的末端工具姿态规划方法,在此基础上结合三维建模特点对末端工具姿态进行了正交化修正,方便了最终的喷涂过程。 第二,根据坐标系相关知识,在opengl环境中实现了基于人机交互方式的模型放大、缩小、平移以及旋转功能。提出通用旋转向旋转矩阵转化的计算过程,在此基础上结合几何学相关知识实现了人机交互性质的模型面片选中功能,方便了对模型的查看、修改以及后续的仿真过程。 第三,根据模型的特点提出了适合喷涂机器人工作的工作空间划分、区域划分、区域内路径规划以及区域间路径规划方法。针对喷枪延迟特性给出了喷枪开关路径规划方法。实验结果表明以上方法可以有效的处理模型数据,为最终的喷涂工作提供了参数支撑。 第四,针对离线仿真软件耗时过长的问题,提出利用断点存储加速仿真的方法,该方法利用数据处理模块与仿真系统进行通信,确定出碰撞发生区域编号以及面片编号,在此基础上,采用仅将碰撞区域之后数据发送至仿真环境的方法,实验结果表明该方法稳定且高效的完成了仿真过程。 第五,针对机器人系统标定模块进行工具标定结果误差较大的问题,提出采用多点逼近并结合最小二乘法的方法,该方法的采用可有效的减小标定误差。根据位姿检测设备的特点,给出确定安装位置的方法,在此基础上,提出利用该设备对喷涂轨迹进行修正的技术,实验结果表明该算法在喷涂过程中可有效修正模型误差。 最后,基于以上工作,设计开发了具有友好交互界面的实验软件系统。借助于系统,整个过程得到了实验验证,实验结果表明,该系统可以自动且稳定的完成喷涂作业,从而为更智能的方式提供了支持。 关键词:三维建模,TOF相机,自动编程; For upgrading robotic’s systematic painting eficiency and quality, there are important meanings to construct three-dimentional model of body both rapidly and precisely by the techonology of smart detector and smart robot, basing on which automatic programming can be realized. Paper deeply studis key technology such as robotic’s automatic programming and automatic painting on the basis of three-dimentional model, which is pointing at practical application of robotic’s painting system,The novel work and contributions of this thesis includes: Firstly, according to model data structure and painting robot’s features, a method for end tool posture planning which fits painting robot is proposed, meanwhile, orthogonal correction for end tool posture is executed on the foundation of three-dimentional model construction, which facilitates final painting process. Secondly, with the help of relevant coordinate system knowledge, model amplification、reduction、translation and rotation based on man-machine interactive mode is realized in the opengl environment. The calculation process in which general rotation is converted to rotate matrix is proposed, at the same time, selection of patch in model based on man-machine interactive is actualized on the basis of relevant geometrical knowledge, which facilitates model view、modification and the follow-up emulate process. Thirdly, working space division、zone division、path planning in the zone and between the zone is put forward in line with model characteristics, in the meantime, path planning of spray gun switching is displayed according to gun delay characteristics. The experiment results show that above method can handle model data effectively, which provides parameter support for final painting work. Fourthly, by means of breakpoint storage, a method used to accelerate emulate process is bring forward for the long time used during emulate course, meanwhile, collision area and patch index is fixed by way of commucation between data process module and emulate system, at the same time, a way in which only the data after collision area is sent to emulation environment is advanced. The experiment shows that this method can complete the emulation process both stable and efficiently. Fifthly, in the light of large deviation when robot module calibrates tool data, least square method based on multiple point is raised, which can reduce calibration deviation effectively. In terms of the characterist...
shelfnumXWLW1790
Other Identifier2009M8014628001
Language中文
Document Type学位论文
Identifierhttp://ir.ia.ac.cn/handle/173211/7642
Collection毕业生_硕士学位论文
Recommended Citation
GB/T 7714
曹学为. 喷涂机器人自动编程技术研究[D]. 中国科学院自动化研究所. 中国科学院研究生院,2012.
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