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The Research on Control Precision Model of SCARA Robot for Multi-point High-speed Assembly

Author: ChenKaiQiang
Tutor: ZhaoLiang
School: Zhejiang University
Course: Mechanical Design and Theory
Keywords: SCARA industrial robot Trajectory planning Interpolation NURBS Adaptive
CLC: TP242.2
Type: Master's thesis
Year: 2012
Downloads: 78
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Abstract


For continuous path control requirements of industrial robots, the end of the movement of the actuator error comes mainly from two aspects of control and structure brought interpolation algorithm and inverse kinematics algorithm factors which control error by trajectory planning. The traditional method of interpolation linear interpolation and circular interpolation, these methods which often meet the requirements of high-speed, high-precision not robots in complicated trajectory control. In this paper, the response to this problem adaptive NURBS interpolation method for industrial robot trajectory control work include: text SCARA industrial robot for the study, analysis of forward kinematics transformation matrix and inverse kinematics solving formula to establish a model of the trajectory of the end of the implementation of high-speed multi-point assembly tasks. Adaptive NURBS interpolation method, a detailed analysis of the application of the method SCARA industrial robot Cartesian space trajectory interpolation. The NURBS interpolation process including: Teach the acquired data points to generate control points the curve node parameters densification, space data points densification, joint space data generated steps. Can generate control points based on NURBS curve formula corresponding NURBS fitting curve fitting curve with the desired trajectory between fitting error; feed for interpolation step Longbow high error on the accuracy, using The adaptive approach trajectory interpolation speed automatic adjustment, depending on the curve curvature, automatically adjust the speed of movement of the robots perform end to obtain the execution speed of movement at the end of curve chord error control within the allowed range; through Inverse Kinematics solution operation obtained each interpolation point corresponding to the parameters in the joint space, and draw the displacement and velocity of each joint Solving Inverse Kinematics computing approximate calculation versus time curve, take value, will bring the error to the trajectory control. Through simulation modeling, NURBS curve fitting error, adaptive step error, the error caused by the Inverse Kinematics solution operation were analyzed, and then the trajectory control error to do a comprehensive analysis. Proposed to do a comparative analysis with linear interpolation method proved better able to ensure the adaptive NURBS interpolation method SCARA industrial robot trajectory control precision of high-speed assembly.

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot > Industrial robots
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