摘要
在现代工业,尤其是汽车工业中,焊接机器人的应用越来越多,焊接质量的要求也越来越高。为满足焊接质量,保证焊接的姿态要求,需要机器人和变位机的协调运动。通常变位机是通过机器人的附加轴功能来控制的。然而附加轴功能是机器人中的特殊扩展,需要在购买时定制。此外,我国早期的机器人研究也仅限于机器人本体的研究,不带有附加轴功能。因此将原先没有与变位机协调运动功能的机器人系统改造为具有该功能,对于更好的适应产品升级换代和降低投资,具有积极的意义。
本文以不带附加轴功能的机器人本体为研究对象,提出了焊接机器人与独立变位机的协调控制方法,并基于YASKAWA MOTOMAN六关节工业机器人设计了该协调控制系统。首先,本文分析了机器人内部控制方式、运动指令,和通讯机制,制定了基于串口通讯和I/O检测的系统架构。其次,研究了机器人和变位机协调焊接时的运动关系,提出了二者协调运动的控制算法。最后,搭建了协调MOTOMAN机器人和变位机运动的控制器,多任务调度实现了变位机运动和机器人运动同步。实践证明,文中所提方法具有可靠性和可行性。
In modern industry, especially in automobile industry, the use of the welding robot is wider and wider. Also the requirement of the welding quality is higher and higher. So we need a positioner, which can adjust the welding posture, to coordinate with the robot for better welding. Commonly, the positioner is controlled as the additional axis of the robot. But this function is a special expansion, which needs customization. Otherwise, the early research of our country's robot focuses on itself, excluding the function of controlling the additional axis. So rebuilding of the early robot to get this function has positive value to suit to the upgrade of the product and reduces the cost.
Researching on the welding robot without additional axis function, the thesis gives a method to control an independent positioner coordinating with the robot. And it designs a controlling system based on the YASKAWA MOTOMAN welding robot. First, the thesis analyzes the controlling method, motion instruction, communication method of the robot, and designs a system structure based on the serial communication and I/O operation. Second, it studies the motion relationship of the robot and positioner, and comes up with a coordinated arithmetic. Finally, it establishes the controller and realizes the coordinated control of the robot and positioner, which needs multitasking scheduling. As practice has shown, the method given by the article is reliable and feasible.
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