ADAMS環(huán)境下工業(yè)機(jī)器人運(yùn)動控制畢業(yè)論文

摘      要

 虛擬樣機(jī)技術(shù)就是在建造第一臺物理樣機(jī)之前,設(shè)計師利用計算機(jī)技術(shù)建立機(jī)械系統(tǒng)的數(shù)字化模型,進(jìn)行仿真分析并以圖形方式顯示該系統(tǒng)在真實工程條件下的各種特性,從而修改并得到最優(yōu)設(shè)計方案的技術(shù)。
ADAMS軟件是目前國際上應(yīng)用最為廣泛的虛擬樣機(jī)分析軟件，用戶可以運(yùn)用該軟件非常方便地對虛擬機(jī)械系統(tǒng)進(jìn)行靜力學(xué)、運(yùn)動學(xué)和動力學(xué)分析。但針對復(fù)雜的機(jī)器人機(jī)械系統(tǒng)，要想準(zhǔn)確的控制其運(yùn)動，僅依靠ADAMS軟件自身也很難做到；MATLAB軟是Mathworks公司開發(fā)的一種集計算、圖形可視化和編輯功能于一體的優(yōu)秀數(shù)學(xué)應(yīng)用軟件，具有強(qiáng)大的計算能力，能夠建立復(fù)雜的控制模型準(zhǔn)確控制復(fù)雜機(jī)器人系統(tǒng)的運(yùn)動；OpenGL（開放式圖形庫全稱）是SGI公司開發(fā)的底層三維圖形API，目前在圖形開發(fā)領(lǐng)域已成為工業(yè)標(biāo)準(zhǔn)。使用OpenGL可以創(chuàng)建視覺質(zhì)量接近射線跟蹤程序的精致漂亮的3D圖形。Visual C++ 6.0已經(jīng)成為集編輯、編譯。運(yùn)行、調(diào)試為一體的功能強(qiáng)大的集成編程環(huán)境，在Windows編程中占有重要地位。OpenGL和Visual C++ 6.0有緊密接口，利用二者可以開發(fā)出優(yōu)秀的視鏡仿真系統(tǒng)。ADAMS、MATLAB和Visual C++ 6.0由于定位不同，都有各自的優(yōu)勢和缺點(diǎn)，但是三者之間又可以通過接口聯(lián)合控制或者混合編程。本文分別利用ADAMS對三自由度機(jī)器人的運(yùn)動學(xué)和軌跡優(yōu)化方案進(jìn)行研究，利用Visual C++ 6.0、OpenGL和從MATLAB里導(dǎo)出的控制模型的數(shù)據(jù)對三自由度機(jī)器人進(jìn)行了視景仿真的研究。
論文首先通過建立坐標(biāo)系和矩陣變換，對剛體的空間表示進(jìn)行了闡述，然后采用通用的D-H法則，將機(jī)器人關(guān)節(jié)角度參數(shù)化，推導(dǎo)出其正運(yùn)動學(xué)方程和逆運(yùn)動關(guān)節(jié)角，并計算出機(jī)器人手部的初始坐標(biāo)。其次采用ADAMS軟件，詳細(xì)介紹了機(jī)器人三維建模過程，包括整體框架構(gòu)建，單個構(gòu)件繪圖和布爾運(yùn)算等，并對機(jī)器人關(guān)節(jié)點(diǎn)進(jìn)行了參數(shù)化設(shè)計。最后從機(jī)器人軌跡規(guī)劃的基本原理和方法出發(fā)，比較分析了關(guān)節(jié)空間軌跡規(guī)劃和直角坐標(biāo)空間軌跡規(guī)劃的差別，并采用三次多項式和五次多項式對機(jī)器人進(jìn)行了軌跡規(guī)劃，利用ADAMS軟件中內(nèi)嵌的Step函數(shù)對運(yùn)動軌跡進(jìn)行了仿真分析。然后在Windows XP Professional的系統(tǒng)環(huán)境下，以Visuall C++6.0為開發(fā)工具，建立了三自由度機(jī)械手視景仿真系統(tǒng)模型，實現(xiàn)了仿真系統(tǒng)對MATLAB控制模型導(dǎo)出數(shù)據(jù)的讀取和利用。

關(guān)鍵詞:運(yùn)動學(xué)  軌跡規(guī)劃  ADAMS虛擬樣機(jī)技術(shù)  視景仿真  紋理映射

Abstract

Before manufacturing the first physical prototype, the designers used computer technology to build a mechanical system of digital model for analysis simulation, which showed that the system works in real conditions of the various characteristics, so as to be revised and Optimal design. This process is called Virtual prototyping technology.
Now ADAMS software is widely used in virtual prototyping analysis in the world, it is very convenient for the user to use this software ot do the statics, kinematics and dynamics analysis for the virtual machine system.But to the complicated robot mechanical system,it is also very hard to do the accurate control of its movement only rely on ADAMS software itself ;MATLAB is one of the outstanding mathematics application software integrating calculation, graphical visualization and editing functions developed by the Mathworks company , and it has strong ability in complex calculation, being able to create the control model to do accurate control of the robot system's complicated movement . OpenGL(the full name of Open graphics libraries) is a 3D graphics Application Programming Interface in the bottom,now having been the industry standard in the area of graphics developing.You can create delicate and beautiful 3D graphics using OpenGL,whose visual quality is close to ray tracing program . Visual C + + 6.0 has become powerful integrated programming environment with editing, compiling. Operating and debugging, and occupies an important position in the Windows programming. Visual C + + 6.0 and OpenGL has close interface, using them we can develop good endoscopic simulation system. Because of the different due , ADAMS, Visual C + + 6.0 and MATLAB have their own respective advantages and disadvantages, but we can also do the joint control or mixing programming through the interface between the three.In this paper, the author do research tokinematics and track optimization scheme of 3-dof robot based on ADAMS , also do the Visual simulation research of 3-dof robot using the data of the control model derived from the MATLAB based on Visual C + + 6.0 and OpenGL.
First of all, through the establishment of coordinates and matrix transformation, the rigid body of the space that was elaborated, and then use the D-H rule, Robot parameters of the joint were gained, equations of motion were given, and the joints angle were known , initial coordinates of Robot hand can be calculated. Followed by ADAMS software, we processed details of the robot three-dimensional modeling, including the overall framework for building, mapped a single component and Boolean operation, designed parameters for the robot and the key points. Finally, we introduced the basic principles and methods of robot trajectory planning, and compared differences between the joint space trajectory planning and rectangular coordinates space trajectory planning. the cubic polynomial and five polynomial of the robot trajectory planning were carried out, the Step function were used on a trajectory simulation analysis of ADAMS software.Then in Windows XP system environment, using Visual C + + 6.0 as development tool, the author establish a 3-dof manipulator visual simulation system, realizing the accessing and using to the data of control model derived from MATLAB .

Key words: kinematics  trajectory planning  ADAMS virtual prototyping technology   Visual simulation  Texture mapping

目      錄

第一章 緒論 1
1.1工業(yè)機(jī)器人的發(fā)展現(xiàn)狀 1
1.2 虛擬樣機(jī)技術(shù)簡介 1
1.2.1 虛擬樣機(jī)的定義和特點(diǎn) 2
1.2.2 研究現(xiàn)狀和發(fā)展趨勢 2
1.4 本文要研究的主要內(nèi)容 4
第二章 機(jī)器人運(yùn)動學(xué) 5
2.1 空間點(diǎn)和坐標(biāo)系的表示 5
2.1.1 空間點(diǎn)的向量表示 5
2.1.2坐標(biāo)系在固定參考坐標(biāo)系中的表示 6
2.2  坐標(biāo)系的變換 6
2.2.1 齊次變換 6
2.2.2 坐標(biāo)系相對于旋轉(zhuǎn)坐標(biāo)系的變換 10
2.2.3 變換矩陣的逆 10
2.3 機(jī)器人的正逆運(yùn)動學(xué) 11
2.3.1正運(yùn)動學(xué)的D-H表示法 12
2.3.2逆運(yùn)動學(xué)方程的求解 15
2.4 微分運(yùn)動 16
第三章 基于ADAMS的機(jī)器人的虛擬樣機(jī)分析 18
3.1 ADAMS概述 18
3.2 ADAMS中機(jī)器人模型的建立 18
3.2.1 設(shè)置建模環(huán)境 19
3.2.2機(jī)器人實體建模 19
3.2.3 機(jī)器人模型的設(shè)置 20
3.3 軌跡規(guī)劃仿真分析 21
3.3.1  軌跡規(guī)劃方法的理論分析 21
3.3.2  軌跡規(guī)劃仿真分析 27
第四章 基于模型的視景仿真系統(tǒng)的設(shè)計與實現(xiàn) 32
4.1 OpenGL概述 33
4.1.1  OpenGL工作方式 33
4.1.2  OpenGL繪制過程 34
4.2  機(jī)器人三維可視化框架建立 35
4.2.1  利用MFC建立單文檔應(yīng)用程序框架 35
4.2.2  設(shè)置OpenGL繪圖環(huán)境 37
4.3  機(jī)械手三維模型的建立 40
4.3.1  導(dǎo)入機(jī)械手模型 40
4.3.2  在OpenGL中建立機(jī)械手的模型 41
4.4  建立仿真場景 44
5.4.1  紋理貼圖的實現(xiàn) 45
4.4.2  設(shè)置光照 48
4.5  基于模型的視景仿真的實現(xiàn) 51
4.5.1  數(shù)據(jù)的讀取 52
4.5.2  利用讀取的數(shù)據(jù)控制機(jī)械手的運(yùn)動 55
4.5.3  實現(xiàn)觀察視角的交互式鍵盤控制 60
結(jié)論 63
致謝 65
附錄 66
參考文獻(xiàn) 73
實習(xí)報告 74