基于AT89C51单片机备料机械手单步控制系统的硬件设计

西安航空学院柔性制造教学生产线的备料机械手通过PLC程序实现控制,此控制方式不利于学生的观察、学习;为了丰富实验内容及便于学生观察,在此基础上开发了基于AT89C51单片机的备料机械手单步控制系统,经过实践、应用,达到了预期的效果.     

自主导航小车(AGV)轨迹跟踪的模糊预测控制

针对非完整约束的轮式移动机器人WMR轨迹跟踪问题,以差速驱动式轮式移动机器人XAUT.AGV100为研究对象,对WMR的运动控制问题作了进一步的研究。本文在分析现有移动机器人运动控制方法的基础上,充分利用模糊控制和预测控制的优点,将模糊控制的思想引入到预测控制中,设计了模糊预测控制算法,并采用此方法控制自主导航小车AGV以提高其轨迹跟踪的快速性和运动的平稳性。理论仿真分析和实验研究均证明,采用所设计的模糊预测方法控制AGV,可有效提高AGV轨迹跟踪的快速性和运动平衡性。     

机器人群控智能制造系统功能设计与应用方法探析

随着社会经济的不断发展,智能化的发展速度令人瞠目结舌.现在越来越多的行业都在与智能化接轨,机器人群控智能制造系统就是智能化发展的典型产物.机器人群控智能制造系统的研发加快了加工制造业、内燃机制造业的发展速度.本文对机器人群控智能制造系统功能设计与应用的发展现状进行了分析,同时对于机器人群控智能制造系统功能在内燃机行业的...     

推动先进机器人技术创新发展

随着机器人技术的快速发展,机器人在智能制造、特种服务、家用服务等方面得到广泛应用。其研发、制造和应用体现一个国家科技创新和高端制造业水平,世界各国将机器人产业列为战略性新兴产业并予以大力支持。     

麦迪逊威斯康星大学战略控制的特点与启示

战略控制的优劣是战略能否成功实施的关键。麦迪逊威斯康星大学20世纪80年代末为解决办学资金短缺、管理效率低下、竞争能力不强等问题，相继出台三部战略规划，以鲜明的目标系统、缜密的组织系统、多维的评估系统、完善的规划系统、精致的信息系统为特色在控制中强力实施，有效保障了战略目标的实现，一跃跻身于美国研究型大学前列。麦迪逊威斯康星大学战略控制的经验值得高校尤其研究型大学研究和借鉴。     

Robot system integration into a flexible manufacturing cell

Industrial robots have proved to be a key technology for promoting flexible automation in manufacturing. However, integrating robots into a flexible manufacturing cell (FMC) is still facing a few obstacles. In this paper a research project on the development of a robot and its integration into an FMC is presented. The main research areas of the project were the development of the robot control, the mechanical system, the establishment of an off-line and online programming system, and the links between the cell modules.     

Inverse dynamics task control of flexible joint robots—I: Continuous-time approach

This paper focuses on the problem of application of inverse dynamics control methods to robots with flexible joints. In Part I of the paper, there are answers presented to a number of questions related to the analytical formulation of nonlinear decoupling control laws. After discussion, the dynamic model of a robot with flexible joints and electrochemical actuators is chosen. The application of the extended computed torque technique together with the methods from the theory of differential-algebraic equations (DAE) to the developed fifth-order robot model gives a number of decoupled linear subsystems, which take robot task space commands as inputs. Due to drawbacks of the continuous-time inverse dynamics, discussed in the paper, a new control strategy in discrete-time is developed in Part II of the paper. The proposed control method is computationally efficient and admits low sampling frequencies. The results of extensive numerical experiments confirm the advantages of the designed control algorithm.     

数控气动爬梯子机器人

提出了一种仿生新型气动的爬梯子消防机器人的设计方案。该方案以气动作为动力,采用单片机控制电磁阀调节气路驱动气缸有序运动,用气缸活塞的运动带动连杆机构运动,来实现机器人自动沿梯子上下爬动,配合摄像头、水枪等消防器具使用,实现高空消防救援的目地。具体分析了该机器人的结构原理、气动系统、电路控制系统的设计。它结构简单,制造成本低,性能可靠。使用表明该控制策略可行、响应快速、控制可靠。因而这种仿生机器人在很多领域有着广泛的应用前景。     

Validation of iGPS as an external measurement system for cooperative robot positioning

External metrology systems are increasingly being used in modern manufacturing to improve the accuracy of industrial robots. In this paper, the problem of achieving absolute accuracy in the positioning and movement of cooperating robots is addressed using the indoor GPS (iGPS) technology as an external position measurement system for real-time feedback and control. This metrology system is presented as an introduction to the iGPS-based 3D Pose Detector and a new concept using generalised measurement systems inspired by iGPS. Attached to the robot end-effectors, the receivers allow coordinate frame measurements to provide spatial information on the robot poses in six degrees of freedom. Experimental results show a strong correspondence between iGPS measurements of cooperating robot end-effector positioning and the control measurements obtained from a double ballbar. Ballbar measurements are further used to determine the relative accuracy between state-of-the-art cooperating manipulators. The iGPS system is validated as an external measurement system using a ballbar device, and its use in the external control of basic robotic tasks is demonstrated. The predicted accuracy achievable for the robots when being controlled or compensated is determined to be at least within 0.3 mm, subject to improvements with continuing research and refinements.     

Influence of external magnetic field on permanent magnet by EDM

REMORA aims at offering an agile robotic solution for manufacturing tasks done on very large parts (e.g., very long and slender parts found in aeronautic industries). For such tasks, classical machine tools are designed at several tens of meters. Both their construction and operation require huge infrastructure supports. REMORA is a novel lightweight concept and flexible robotic solution that combines the ability of walking and manufacturing. The robot is a mobile manufacturing system which can effectuate operations with good payload capacity and good precisions for large workspace applications. This new concept combines parallel kinematics to ensure high stiffness but low inertia and mobile robotics to operate in very large workspaces. This results in a machining center of new generation: (1) agile manufacturing system for large workspace applications, (2) heavy load and good precisions, (3) 5-axis machining and 5-axis locomotion/clamping, (4) self-reconfigurable for specific tasks (workspace and force), and (5) flexible and multifunctional.     

Automatic assembly task of electric line using 6-link electro-hydraulic manipulators

Uninterrupted power supply has become indispensable during the maintenance task of active electric power lines as a result of today’s highly information-oriented society and increasing demand of electric utilities. The maintenance task has the risk of electric shock and the danger of falling from high place. Therefore it is necessary to realize an autonomous robot system using electro-hydraulic manipulator because hydraulic manipulators have the advantage of electric insulation. Meanwhile it is relatively difficult to realize autonomous assembly tasks particularly in the case of manipulating flexible objects such as electric lines. In this report, a discrete event control system is introduced for automatic assembly task of electric lines into sleeves as one of the typical task of active electric power lines. In the implementation of a discrete event control system, LVQNN (linear vector quantization neural network) is applied to the insertion task of electric lines to sleeves. In order to apply these proposed control system to the unknown environment, virtual learning data for LVQNN is generated by fuzzy inference. By the experimental results of two types of electric lines and sleeves, these proposed discrete event control and neural network learning algorithm are confirmed very effective to the insertion tasks of electric lines to sleeves as a typical task of active electric power maintenance tasks.     

基于对象模型的YGR—1机器人智能任务规划和控制

研究了一个基于对象模型的机器人智能任务规划与控制系统,对系统中的对象进行模型化,建立对象模型知识库,在设计任务规划时,模仿了人在日常生活中完成普通任务时进行任务规划的方法,在设计控制软件时,根据控制目标,设计了推理程序,因此,系统根据一用句子给出的请求,规划出一系列相关联的基本任务。从而控制机器人各关节协调动作,使之完成目标任务。     

基于UG二次开发的工业机器人作业仿真系统设计

为了在一般CAD软件中实现符合企业需求的工业机器人运动仿真,通过采用UG软件二次开发技术和C++程序,构造了与UG无缝集成的工业机器人作业仿真系统。设计了包含人机接口层、作业管理层、UG支撑层的仿真软件体系结构。针对UG运动模块难以进行二次开发的问题,通过对UG装配模块的二次开发来实现机器人运动仿真。机器人运动过程碰撞检测功能则由UG间隙检查模块的二次开发实现。仿真软件现已成功地应用于汽车门框焊接机器人的作业仿真及布局设计。     

An ultrasonic collision detection system

Robots in manufacturing are increasingly being called on to do complex tasks that require intelligence beyond merely following a preprogrammed path. In robotic assembling of mechanisms, welding, machine tending and other tasks, sensing enables robots to adapt to their environments. In this research, an ultrasonic collision detection system for an industrial robot was designed, constructed and tested. Two ultrasonic transducers and ranging modules were mounted on the robot wrist to detect and prevent collisions with objects placed in the end effector's path. Experiments were conducted to determine objectto-robot distance as a function of robot speed after the robot had stopped. Two robot motions and two loads were studied. Statistical methods of stopping distance vs. robot speed are presented and will be useful in planning robot tool paths. This ultrasonic collision detection system can be used on stationary and mobile robots, automatic-guided vehicles, and other manufacturing applications.     

e-制造系统的制造资源动态配置过程研究

传统制造资源动态配置没有涉及制造系统、制造单元和设备之间制造过程信息的重组模型，据此，在拓展传统制造资源动态配置模型的基础上，结合模糊聚类理论，研究了e制造环境下制造任务在一定批量和多工艺方案情形下的单元化配置模型，以及基于此配置结果的制造系统、动态制造单元、设备间的信息重组模型与制造过程信息跟踪方法，为“柔性制造”、“数宁化精确生产”奠定了基础，并对开发的原型系统进行验证。     

基于分层任务网络的云制造任务分解方法

提出了一种基于顺序任务分解的云制造任务分解算法。首先给出云制造任务描述模型以及任务约束结构的相关定义,对制造任务粒度分析方法、制造任务内聚性度量方法和制造任务相关性度量方法进行了研究。然后,采用递归分解算法对任务进行优化分解,并在分解过程中考虑任务的资源匹配问题。最后,以某变速箱试制任务分解为实例验证了所提方法的可行性和有效性。     

多任务程序设计方法在机器人实时控制中的应用

这里介绍一种控制系统软件程序的设计方法，以满足应用中需要多种控制操作、实时性高的要求。定义程序任务，规划前、后台方式的程序整体结构，建立多任务动态调度机制，结构化任务间的交换数据并进行保护。将多任务程序设计方法应用在装配机器人控制软件中，并且采用相关的编程技术加以实现。该方法应用在机器人实时控制系统的软件设计中具有较好的效果。     

知识化制造单元的动态任务控制策略

针对知识化制造系统中的任务控制问题,提出状态跃迁系统的概念,并以此来分析带故障并具有不确定因素的知识化制造单元。提出了对随机事件概率分布参数进行自学习的方法,把知识化制造单元中的不确定因素纳入任务控制的数学模型。结合一致化技术和随机动态规划的方法,得到了知识化制造单元的最优任务控制策略。仿真结果表明,在不同的初始状态下,目标函数均稳定在一定范围内,说明所提出的控制策略是可行的。此外,将该控制策略与随机控制原则和最大值控制原则两种方法进行比较,在该控制策略下的目标函数明显低于用另外两种方法得到的目标函数,说明此控制策略是有效的。     

弧焊机器人离线编程系统分析与设计

从焊接生产市场竞争的角度来看,焊接生产的柔性化与集成化成为焊接生产自动化的一个必然趋势。机器人的在线示教编程不但效率低,而且占用生产时间,难以与其他系统实现无缝集成。目前,这些问题同焊接件的坡口加工及装配的精度一起成为制约机器人在焊接领域推广应用的主要技术问题。离线编程技术可以使弧焊机器人成为一种便于操作和集成的具有充分柔性的系统,根据机器人应用中的技术问题,立足于当前的实际情况,分析、设计了弧焊机器人离线编程系统。设计过程中充分考虑了系统的易用性和实用性。     

基于任务的可重构模块机器人构形确定方法

可重构机器人为柔性加工系统提供了更多的选择,但复杂多变的任务、环境以及机器人模块无穷组合,为机器人构形的确定带来了很大的难题。采用遗传算法和迭代算法分两级搜索对机器人构形组合进行优化设计:运用遗传算法对机器人构形进行进化设计,满足工作空间的可达性、环境避障、线性和角度误差、末端操作灵巧度、运动关节的动力学要求、期望模块数目等性能指标要求。运用迭代算法对构形进行运动学逆解求解,计算空间工作点的可达性适应度。根据可装配的模块机器人及模块化思想,建立各个模块的速度、加速度等动力学表达式及相关修正公式,采用补偿迭代法来自动生成动力学方程,计算运动模块驱动性能的适应度。用专家经验对搜索得到适应度较高的构形进行修正,得到满足工作要求的机器人构形。最后给出实例验证。