环保压缩机装配机器人控制技术及轨迹规划研究

【作者】 张兴国；

【导师】 殷爱华；

【作者基本信息】 南京理工大学 ， 机械制造及其自动化， 2003， 硕士

【摘要】 机器人技术是高技术的重要组成部分，是实现生产自动化的关键技术之一。随着相关学科的发展及各种先进技术的应用，机器人的研究与开发越来越受到广泛的重视，具有良好的应用前景。利用机器人进行工作可以缩短生产周期、提高产品质量、改善生产条件。 本文以“环保压缩机装配机器人”为应用背景，对机器人技术进行了探索和研究：探索“工业机器人组合式、模块化设计”方法，基于“组合式+模块化”设计思路研制出“环保压缩机装配机器人”；着重于研究“基于PC的开放式结构控制器”，结合装配机器人实际应用设计控制系统；探讨先进的机器人轨迹规划方法，建立装配机器人的运动学模型，对机器人的轨迹规划进行研究；编制装配机器人控制系统软件程序。更多还原

【Abstract】 Robotics is the important part of high-tech and it is one of the key technologies achieving automation. With the development of interrelated subjects and the application of all kinds of advanced technologies, people attach importance to the research and exploitation of robotics widely. The application of robot is kept in a good foreground. It can shorten production cycle, improve product quality and reform manufacturing environment.This paper emphasizes on the research of robotics based on the assembly robot of environmentalism compressor. Searching the way about the design of industrial robot based on combination and modularization, and also manufacturing the assembly robot of environmentalism compressor according to this idea. Emphasizing the research of open system controller based on PC. Designing the control system of the assembly robot following the controller’s application. Discussing the advanced methods of path planning. Building up the kinematics model of the assembly robot and researching the robot’s path planning. Programming the software program of the assembly robot’s control system.更多还原