【作者】 宋洪军；

【导师】 贾磊； 李贻斌；

【作者基本信息】 山东大学 ， 控制理论与控制工程， 2008， 博士

【摘要】 当前,在机器人技术方面还不存在统一标准,也没有形成专业化配套与产业链分工,很难实现各种功能构件之间的可重用与互操作,不适应多种异构机器人生产线的组成。目前,要想实现多种异构机器人生产线,在国内外实际应用中均存在大量的重复性开发工作,成本高,周期长,制约了机器人产品的广泛应用,因此急需开展机器人标准化、模块化体系结构的研究工作。工厂自动化、集成计算机制造系统、柔性制造与敏捷制造对机器人生产作业的管控提出越来越高的要求,消除生产管控现场的异构化,即实现不同平台、不同控制方式、不同作业形式的设备资源的有效配合与整合,已经成为生产制造和机器人应用急需解决的瓶颈问题。中间件(Middleware)技术是解决机器人标准化模块化设计、消除机器人系统异构性问题的优先选择,是今后机器人技术的核心与基础,需要国家级的战略规划与指导,它在国内机器人领域的研究应用总体处于初始阶段。另一方面,在自动化生产线中,当作业对象(产品)变化时,生产线中的每台机器人和数控设备的功能会随之变化,这就要求每台机器人的作业需要重新示教,每台数控设备需要重新编程,并需要运行示教作业或编制的程序进行实际验证。单台设备的示教、编程以及整条生产线的运行验证占去了大量的生产时间,降低了生产效率,而且还要求操作人员具有很高的技术水平和丰富的实践经验。因此,实现机器人(或外围设备)作业程序管控集中化、可视化以及多机器人(或设备)的协调作业控制,是非常必要的。虚拟现实技术是解决可视化人机交互和作业仿真验证的优秀选择。本论文针对制造企业及机器人应用的问题和要求,跟进机器人技术模块化、标准化发展趋势,综合虚拟制造、监控、示教、仿真等机器人应用,研究并实现基于中间件和虚拟现实技术的分布式异构机器人作业系统。论文主要研究内容如下:1)深入研究中间件技术规范与标准服务,采用ACE/TAO,设计并实现分布式异构机器人互操作系统。为充分优化机器人互操作系统实时性能,分析了CORBA POA运行策略,划分了策略组合并针对每个组合设计了应用方案;分析了CORBA多POA设计,测试了POA/Servant的配置性能。2)针对异构机器人定义中间件接口模块,进行了IDL接口封装,并分别在机器人互操作系统的服务器端和客户端完成了对接口的具体实现与测试验证。3)设计并实现了基于中间件的机器人仿真内核系统,使用面向对象方法完成了OpenGL的C++类封装。进而研究了虚拟装配作业系统,实现了机器人虚拟自动装配。4)研究了六自由度机器人运动学模型,推导出了机器人运动学的正解和逆解算法,为工业机器人作业仿真系统的设计提供机器人的运动学控制。设计并实现了基于中间件和虚拟现实的工业机器人作业仿真系统和的移动机器人作业仿真系统。采用时延Petri网研究了机器人生产线作业工序规划验证问题。论文工作创新点主要有:1.针对机器人工业现场应用的异构性,在国内较早开展基于中间件的机器人标准化模块化研究,首次提出了机器人中间件系统的两层架构设计并实现了分布式异构机器人互操作系统。试验表明该系统有效消除了机器人本体和应用环境的异构性,两层架构设计具有良好的敏捷适应性、可扩展性与可移植性。2.首次基于中间件和虚拟现实技术,实现了仿真系统内核设计和机器人虚拟装配作业系统,进而面向关节型机器人和移动机器人,以作业编辑管理和仿真为主,研究了机器人本体和生产线作业系统,系统的体现了中间件技术在机器人领域各方面的应用价值。3.提出了“基于中间件的移动机器人分布式动态作业编辑”设计,分离了移动机器人作业核心逻辑与作业执行框架,使得移动机器人的作业管理具备了较好的动态灵活性;而且作业核心逻辑以CORBA对象的形式发布,实现作业的分布式在线部署配置,透明一致的支持多机器人的作业管理。更多还原

【Abstract】 As there is no uniform standard for robot design and manufacturing in the world,robots made by different venders are hard to interoperate and interchange, there is no industrialization scale production,on the whole robot application is expensive,hard to scale and integrate.It is urgent need to promote standardization and modularization in robot field itself.With the promotion and development of industrial production automation, FA,CIMS,FMS and AMS integrated with robot are becoming more complex and heterogeneous,these systems are often composed of different operation platforms,versatile control methods and various job representations.How to coordinate and integrate distributed heterogeneous resources effectively, transparently and flexibly has become bottleneck of modern manufacturing and robot application.Middeware is the best option for robot standardization and modularization,it provides mechanism to solve heterogeneous problems among robot system. Robotics middleware is in initial stage on the whole.Modern manufacturing pipelines are composed of robots and digital controlled devices,when business and production changes,the robot or device’s role and function changes along,it often brings changes and adjustment of robot jobs and device programs,and the corresponding verification and integration.In traditional ways,robot jobs are teachings and plays,which is time-consuming with low efficiency,and the maintainer has to be specifically well trained and experienced.It has been necessary and trend to realize job system for robot and its peripheral devices that can integrates robot system design,robot job edit and verification with friendly visual ways.To solve the above problems and trends listed,the paper takes an approach combining middleware and virtual reality to construct robot job system, integrating CAD/CAM,robot pipeline design,job simulation and supervision.The paper’s research includes:1.Study of OMG CORBA and Java RMI specifications,IIOP protocols and standard CORBA services,then by using ACE/TAO,designs and implements middleware architecture for distributed heterogeneous robot application on Windows and Linux.Then verifies the design by experiments.To promote the system’s performance,the paper analyze POAs and Servants.2.Defines and encapsulates robot interfaces by CORBA IDL,then verifies the implementation on the system’s server side and client side.3.Encapsulates OpenGL with C++ by object-oriented methodology,designs and implements a VR-based and middleware-based universal robot simulation system.The system can be used to integrate with and verify CAD design,or be used in virtual manufacturing,assembling and to edit,simulate and verify robots’ jobs.4.Kinematics model of Motoman UP6 is studied,the forward and inverse solutions are given,the criteria to select feasible inverse solution is prompted.Industrial robot and mobile robot oriented robot job system is studied.Timed PetriNet is used to verify distributed multiple robot jobs in production line.The paper’s main achievements can be summed up as follows:1.The paper’s work advances in domestic robot middleware research.It’s the first time in the field that a two-tier robot middleware system is designed,and the experiments verify the design that it erases heterogeneous problems among robot system,the system has good adaptivity,is extensible.2.It’s the first time systematically that a comprehensive robot middleware application system is designed and implemented,it is used to integrate and interoperate within and between distributed heterogeneous robots that have diverse job forms,different degree of freedoms,different communication protocols,different operation systems and programming languages and different control interfaces and models.The system integrates and demonstrates robot job management and simulation and virtual assembling by way of middleware systematically.3.It promotes the design of "middleware-based distributed mobile robot job dynamic-management",it separates job logic and job running scheme,the robot’s job can be provided as CORBA object service,it helps to manage mobile robot jobs on line transparently.更多还原