基于MATLAB与V-REP的机器人加工轨迹生成与运动仿真
|
摘要
提出了联合MATLAB和V-REP进行机器人加工轨迹生成和运动仿真的方法.该方法首先在MATLAB中,计算机器人操作空间中刀具的轨迹,并通过逆运动学计算获得刀具轨迹对应的关节参数.然后在V-REP中,采用基于关节和连杆统一坐标系的建模方法,建立与刀轨文件一致的机器人及其加工环境的三维模型.最后通过MATLAB中的外部控制程序和V-REP中的控制脚本、MATLAB和V-REP之间的通信接口,使V-REP中的机器人模型响应外部控制程序进行运动仿真和碰撞检测.采用所提出的方法对密胺脂餐具盘的机器人铣边过程进行了仿真,仿真结果表明该方法能够生成无干涉加工轨迹和正确的机器人关节运动参数.
A method of machining path generation and motion simulation of robots is presented by integrating MATLAB and VREP.First,in MATLAB,the tool path in the robot operating space is calculated,and the joint parameters corresponding to the tool path are obtained by inverse kinematics calculations.Then,in V-REP,the modeling method based on unified coordinate systems of joints and links is used to build 3 Dmodels of robot and its machining environment which is consistent with the tool path file.Finally,through the external control program in MATLAB and the control script in V-REP,and the communication interface between MATLAB and V-REP,the robot model in V-REP responds to the external control program for motion simulation and collision detection.After the edge milling process of a melamine tableware by a robot is simulated by our method,simulation results show that our method can generate interference free tool paths and correct motion parameters of robots.
A method of machining path generation and motion simulation of robots is presented by integrating MATLAB and VREP.First,in MATLAB,the tool path in the robot operating space is calculated,and the joint parameters corresponding to the tool path are obtained by inverse kinematics calculations.Then,in V-REP,the modeling method based on unified coordinate systems of joints and links is used to build 3 Dmodels of robot and its machining environment which is consistent with the tool path file.Finally,through the external control program in MATLAB and the control script in V-REP,and the communication interface between MATLAB and V-REP,the robot model in V-REP responds to the external control program for motion simulation and collision detection.After the edge milling process of a melamine tableware by a robot is simulated by our method,simulation results show that our method can generate interference free tool paths and correct motion parameters of robots.
引文
[1]XIAO X,LI Y,TANG H.Kinematics and interactive simulation system modeling for robot manipulators[C]∥IEEE International Conference on Information and Automation.Yinchuan:IEEE,2014:1177-1182.
[2]SOSA-MNDEZ D,LUGO-GONZLEZ E,ARIASMONTIEL M,et al.ADAMS-MATLAB co-simulation for kinematics,dynamics,and control of the Stewart–Gough platform[J].International Journal of Advanced Robotics Systems,2017,14(4):1-10.
[3]周金强.基于UG的工业机器人离线编程系统[D].武汉:华中科技大学,2013:1-7.
[4]张海洋.叶片砂带磨削机器人轨迹规划与离线编程[D].武汉:华中科技大学,2014:4-8.
[5]HOWARD L,SIMON X Y,MAE L S.Neural-networkbased path planning for a multirobots system with moving obstacles[J].IEEE Transactions on Systems,Man,and Cybernetics,Part C,2009,39(4):410-419.
[6]唐涛宇.机器人离线编程系统的研究[D].哈尔滨:哈尔滨工业大学,2013:2-4.
[7]张政.工业机器人离线编程系统研究[D].杭州:浙江大学,2016:1-2.
[8]ROHMER E,Singh S P N,FREESE M.V-REP:a versatile and scalable robot simulation framework[C]∥IEEE/RSJ International Conference on Intelligent Robots and Systems.Tokyo:IEEE,2013:1321-1326.
[9]FREESE M,SINGH S,OZAKI F,et al.Virtual robot experimentation platform V-REP:a versatile 3Drobot simulator[M].Berlin Heidelberg:Springer,2010:51-62.
[10]XIONG G,DING Y,ZHU L M.A feed-direction stiffness based trajectory optimization method for a milling robot[C]∥International Conference on Intelligent Robotics and Applications.Wuhan:Springer,2017:184-195.
[11]NAGATA F,OKADA Y,KUSANO T,et al.Reverse and forward post processors for a robot machining system[C]∥International Conference on Intelligent Robotics and Applications.Wuhan:Springer,2017:70-78.
[12]熊有伦.机器人技术基础[M].武汉:华中科技大学,1996:32-35.
[2]SOSA-MNDEZ D,LUGO-GONZLEZ E,ARIASMONTIEL M,et al.ADAMS-MATLAB co-simulation for kinematics,dynamics,and control of the Stewart–Gough platform[J].International Journal of Advanced Robotics Systems,2017,14(4):1-10.
[3]周金强.基于UG的工业机器人离线编程系统[D].武汉:华中科技大学,2013:1-7.
[4]张海洋.叶片砂带磨削机器人轨迹规划与离线编程[D].武汉:华中科技大学,2014:4-8.
[5]HOWARD L,SIMON X Y,MAE L S.Neural-networkbased path planning for a multirobots system with moving obstacles[J].IEEE Transactions on Systems,Man,and Cybernetics,Part C,2009,39(4):410-419.
[6]唐涛宇.机器人离线编程系统的研究[D].哈尔滨:哈尔滨工业大学,2013:2-4.
[7]张政.工业机器人离线编程系统研究[D].杭州:浙江大学,2016:1-2.
[8]ROHMER E,Singh S P N,FREESE M.V-REP:a versatile and scalable robot simulation framework[C]∥IEEE/RSJ International Conference on Intelligent Robots and Systems.Tokyo:IEEE,2013:1321-1326.
[9]FREESE M,SINGH S,OZAKI F,et al.Virtual robot experimentation platform V-REP:a versatile 3Drobot simulator[M].Berlin Heidelberg:Springer,2010:51-62.
[10]XIONG G,DING Y,ZHU L M.A feed-direction stiffness based trajectory optimization method for a milling robot[C]∥International Conference on Intelligent Robotics and Applications.Wuhan:Springer,2017:184-195.
[11]NAGATA F,OKADA Y,KUSANO T,et al.Reverse and forward post processors for a robot machining system[C]∥International Conference on Intelligent Robotics and Applications.Wuhan:Springer,2017:70-78.
[12]熊有伦.机器人技术基础[M].武汉:华中科技大学,1996:32-35.