工业机器人离线编程系统关键技术的研究-机械电子工程专业论文.docx

华 华 中 科 技 大 学 硕 士 学 位 论 文 I I 摘 要 工业机器人编程方式主要是示教编程和离线编程，面对当前机器人的应用情况 和发展需要，示教编程已经难以满足生产需求。离线编程可以克服示教编程的不足， 并受到越来越多的重视，因此研究机器人离线编程技术具有重要的应用价值。 本文分析了机器人离线编程系统的总体框架，主要研究了机器人运动学、关节 空间和笛卡尔空间的轨迹规划、程序模块和辅助功能模块等机器人离线编程关键技 术。在此基础上，针对离线编程的功能需求开发了工业机器人离线编程系统，介绍 了其各个基本功能模块的特点和实现方法。 利用 D-H 法实现了 6R 和 5R 工业机器人运动学正逆解的算法，针对运动学逆解 存在多重解的问题，引入了评价函数，对各组解分析评价，从中选择最优的一组解， 并对运动学进行了仿真验证。 分析了机器人关节空间和笛卡尔空间的轨迹规划的方法。主要研究了基于时间 最优原则的轨迹规划，通过引入约束条件，计算得到关节轨迹曲线，采用复合形法 逐步逼近最优解，实现基于时间最优原则的轨迹规划。研究了基于动能特征的机器 人轨迹规划，分别分析了基于动能比例系数的规划和基于动能变化率的规划。 研究了自动编程和程序在不同机器人语言之间的转换，开发了离线编程系统， 实现了其主要功能。这些关键技术，保证了离线编程的实用性和开放性，具有较高 的应用价值。 关键词：工业机器人；离线编程；运动学；轨迹规划；程序转换 II II Abstract Industrial robot programming mainly includes teaching programming and off-line programming. Facing the application condition and development need of industrial robots, off-line programming is a better choice, which is paid more and more attention, and has advantages of openness, high integration, fast and accurate programming for complex tasks, etc., therefore, the research of off-line programming technique has important application value. The framework of the off-line programming system is analyzed, and the key techniques, such as algorithm of kinematics, trajectory planning in joint space and Cartesian space, program editor and auxiliary function modules are discussed. On the basis of the functional requirements of off-line programming, an off-line programming system for industrial robots is developed, the features and implementation of the basic functional modules are introduced. D-H method is used to analyze kinematics algorithm of the 6R and 5R industrial robots. To solve the problem of multiple solutions to inverse kinematics, an evaluation function is introduced, which analyzes and evaluates these solutions, and then chooses the optimal one. The methods of the robot trajectory planning in joint space and Cartesian space are introduced. To realize the trajectory planning based on time optimal, joint trajectory curve is calculated