基于DS P的焊装机器人控制算法研究与仿真设计

摘要

Based on the establishment of six DOF welding robot D-H coordinate system and the parameters of the arms,the forward kinematics and inverse kinematics equations are studied and its numerical simulation algorithm is designed and simulation model in MATLAB environment is also designed,and the control of each joint motor under the fixed control mode and fixed gravity compensation is also obtained.On the basis of the dynamic control equation of six DOF robot, the consideration of the characteristics of the motors and the dynamic characteristics of the robot arm are also obtained,and the optimization model of sensor feedback control is established.The four robot welding station in Tecnomatix environment is created,Using the Robotics function module provided,the path and function of the robot are realized.The Newton Euler inverse kinematics equations of the digital signal processor are used to solve the robot’s joint coordinate and to process the sensor feedback signal in real-time,and to realize the closed-loop control of the multi servo system.%在建立六自由度焊装机器人D-H坐标系及确定各手臂参数的基础上，研究其正逆运动学方程，设计其数值模拟算法，并在MATLAB环境下建立仿真模型，获得在定点控制模式下各个关节电机控制量，得到具有固定重力补偿的机器人控制模型；基于六自由度机器人动力学控制原理，在考虑电机特性及机器人手臂动力学特性的基础上，建立了具有传感器反馈控制的优化模型；在Tecnomatix环境下创建了四机器人焊接工位，利用其提供的 Robotics 功能模块，实现了机器人的路径及功能示教；利用 DSP （Digital Single Processor，数字信号处理器）解算了机器人关节坐标的牛顿-欧拉逆运动学方程，并实时、快速处理传感器反馈信号，实现了对多个伺服系统的闭环控制。