基于多机器人的开放式智能控制系统关键技术研究与开发
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摘要
本文在分析现有机器人控制系统和开放式系统特点的基础上，从实际工程应用角度出发，提出了基于多机器人的开放式智能控制系统设计思想。本文紧密结合系统实用化和产业化发展的实际需要，系统研究了多机器人开放式控制系统搭建中的若干关键技术，包括机器人高精度运动控制、工件形位误差检测、加工路径动态误差补偿、多机器人最优路径规划、参数化任务编程、开放式系统的软硬件设计理论和开发方法等内容。论文取得了如下结论：
提出了多机器人控制系统的机器人主动精度控制和加工件被动精度控制概念。针对机器人主动精度控制，提出了基于不确定性模型RBF-NN辨识的机器人自适应动力学速度前馈补偿控制方法。针对加工件被动精度控制，提出了基于结构光特征数据提取的工件形位误差检测方法，利用数据库技术实现加工轨迹的实时动态误差补偿。研究结果表明，主被动精度控制方案能有效提高系统的加工精度。
结合多机器人系统的运动特点，利用C-Space理论和最优路径搜索算法，提出了一种基于动态速度修正的多机器人无碰撞最优路径规划算法。研究结果表明，该方法能获得比较实用的机械臂之间的最优无碰撞运动路径。
提出了一种基于三维模型构件特征参数提取的参数驱动任务编程技术。利用三维模型直接获得加工参数信息，进而利用参数驱动任务编程技术自动获得加工程序代码，实现了加工任务的自动表达和实现。
针对多机器人开放式控制系统的功能要求，提出了一种多层等级式控制体系结构方案。以工控机作为主控单元，以“DMC运动控制卡+图像处理卡+PLC”为从控单元，实现系统硬件平台搭建。根据从控单元硬件的不同功能，设计了相应的通讯方式实现信息交互。提出了基于系统任务实时性能分配和管理的多媒体定时器的软中断实时数据更新技术，采用双缓存顺序指令运行控制方案实现运动控制指令的安全高效处理。
以海洋平台型钢构件加工为试验平台验证了本文提出的多机器人开放式智能控制系统的性能。试验结果表明，该系统在满足加工自动化要求的同时，明显提高加工精度和加工效率，验证了系统的良好性能。
The design concept of open and intelligent control system based on the multiplerobots is proposed by this dissertation from the practical application point of view, byanalyzing the present robotic system and open control system. Some key issues in thedevelopment of open and intelligent multi-robot control system, includinghigh-precision control of robot, dynamic error compensation, optimal path planning,parameterized programming and the design method of hardware and software of opensystem, are investigated. The following contributions and conclusions have beenmade:
The concept of robot active and workpiece passive precision control isformulated. On the respect of robot active precision control, the dynamic velocityfeed-forward compensation control (DVFCC) based on the radical basis functionneural network (RBF-NN) identification of robot uncertain model is proposed.On the respect of workpiece passive precision control, the structure lightdetection (SLD) of workpiece shape and positioning errors is adopted to extractthe characteristic parameters of machining process. The dynamic errorcompensation is achieved by database technology. The results indicate that theproposed precision control approach can improve the machining accuracyefficiently.
An optimal path planning approaching using dynamic velocity modification isinvestigated to achieve the collision-free motion of multi-robot based on thetheory of Configuration Space (C-Space) and A*path search algorithm. Thesimulation results demonstrate that the proposed method can obtain practicalcollision-free path between multiple arms.
A novel program method of parameter-driven technology based on parameterextraction from three-dimensional model of workpiece is investigated. Theprocessing codes can be generated automatically by parameter-drivenprogramming approach, where the machining parameters is obtained fromstandard database, error data of SLD and the proposed extraction ofthree-dimensional model of workpiece.
An open hierarchical architecture design scenario for system hardware update and software redevelopment is conveniently adopted in the proposed system. TheIPC as master controller and “DMC controller+Image Collection Card+PLC”as slave controllers are employed in the development of the hardware platform ofopen system. The proper communication mode is adopted to exchange theinformation between master and slave controllers. The real-time data updatebased multi-media timer technology is proposed by assignment and managementof real-time property of various control tasks, which utilizes dual-buffer controlapproach to achieve the safe and efficient execution of control instructions.
The performance of the proposed open and intelligent multi-robot control systemis validated on the cutting task of H-beam steel on the offshore platform. Theexperimental results illustrate that the proposed system can significantly improvethe machining precision and efficiency with high automation level.
提出了多机器人控制系统的机器人主动精度控制和加工件被动精度控制概念。针对机器人主动精度控制，提出了基于不确定性模型RBF-NN辨识的机器人自适应动力学速度前馈补偿控制方法。针对加工件被动精度控制，提出了基于结构光特征数据提取的工件形位误差检测方法，利用数据库技术实现加工轨迹的实时动态误差补偿。研究结果表明，主被动精度控制方案能有效提高系统的加工精度。
结合多机器人系统的运动特点，利用C-Space理论和最优路径搜索算法，提出了一种基于动态速度修正的多机器人无碰撞最优路径规划算法。研究结果表明，该方法能获得比较实用的机械臂之间的最优无碰撞运动路径。
提出了一种基于三维模型构件特征参数提取的参数驱动任务编程技术。利用三维模型直接获得加工参数信息，进而利用参数驱动任务编程技术自动获得加工程序代码，实现了加工任务的自动表达和实现。
针对多机器人开放式控制系统的功能要求，提出了一种多层等级式控制体系结构方案。以工控机作为主控单元，以“DMC运动控制卡+图像处理卡+PLC”为从控单元，实现系统硬件平台搭建。根据从控单元硬件的不同功能，设计了相应的通讯方式实现信息交互。提出了基于系统任务实时性能分配和管理的多媒体定时器的软中断实时数据更新技术，采用双缓存顺序指令运行控制方案实现运动控制指令的安全高效处理。
以海洋平台型钢构件加工为试验平台验证了本文提出的多机器人开放式智能控制系统的性能。试验结果表明，该系统在满足加工自动化要求的同时，明显提高加工精度和加工效率，验证了系统的良好性能。
The design concept of open and intelligent control system based on the multiplerobots is proposed by this dissertation from the practical application point of view, byanalyzing the present robotic system and open control system. Some key issues in thedevelopment of open and intelligent multi-robot control system, includinghigh-precision control of robot, dynamic error compensation, optimal path planning,parameterized programming and the design method of hardware and software of opensystem, are investigated. The following contributions and conclusions have beenmade:
The concept of robot active and workpiece passive precision control isformulated. On the respect of robot active precision control, the dynamic velocityfeed-forward compensation control (DVFCC) based on the radical basis functionneural network (RBF-NN) identification of robot uncertain model is proposed.On the respect of workpiece passive precision control, the structure lightdetection (SLD) of workpiece shape and positioning errors is adopted to extractthe characteristic parameters of machining process. The dynamic errorcompensation is achieved by database technology. The results indicate that theproposed precision control approach can improve the machining accuracyefficiently.
An optimal path planning approaching using dynamic velocity modification isinvestigated to achieve the collision-free motion of multi-robot based on thetheory of Configuration Space (C-Space) and A*path search algorithm. Thesimulation results demonstrate that the proposed method can obtain practicalcollision-free path between multiple arms.
A novel program method of parameter-driven technology based on parameterextraction from three-dimensional model of workpiece is investigated. Theprocessing codes can be generated automatically by parameter-drivenprogramming approach, where the machining parameters is obtained fromstandard database, error data of SLD and the proposed extraction ofthree-dimensional model of workpiece.
An open hierarchical architecture design scenario for system hardware update and software redevelopment is conveniently adopted in the proposed system. TheIPC as master controller and “DMC controller+Image Collection Card+PLC”as slave controllers are employed in the development of the hardware platform ofopen system. The proper communication mode is adopted to exchange theinformation between master and slave controllers. The real-time data updatebased multi-media timer technology is proposed by assignment and managementof real-time property of various control tasks, which utilizes dual-buffer controlapproach to achieve the safe and efficient execution of control instructions.
The performance of the proposed open and intelligent multi-robot control systemis validated on the cutting task of H-beam steel on the offshore platform. Theexperimental results illustrate that the proposed system can significantly improvethe machining precision and efficiency with high automation level.
引文
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