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1、ADAMS环境下工业机器人运动控制和联合仿真Motion Control And Co-simulation OfIndustrial Robot iN ADAMS Environment1、本论文的目的、意义在制造系统中，工业机器人扮演着重要的角色，从加工、制造、装配，配送等过程环节，工业机器人因其自身的灵活性应用越来越广泛，它已经成为当代工业自动化三大领域之一，它的水平高低和应用程度反应出了一个国家工业水平的高低。本项目通过对工业机器人运动学、系统模型建立与仿真，研究工业机器人在使用中的运动学分析以及基本的控制方法，并通过ADAMS实现对工业机器人实际运动的研究和仿真，将控制响应过程通过O
2、penGL环境实现视景仿真。2、学生应完成的任务1）源程序及相应的文档，实现如下功能：工业机器人运动学模型建立与仿真，动力学模型建立与仿真，通过Matlab控制模型输出的数据实现视景仿真等。2）翻译课题相关外文资料。3）毕业论文说明书。3、论文各部分内容及时间分配：（共 12 周）第一部分 实习调研、收集资料 （1-2周）第二部分 方案选择、总体设计、软件熟悉 （3-4周）第三部分 系统建模、编程 （5-8周）第四部分 联合仿真、测试及文档的编写 （9周）第五部分 编写毕业论文说明书 （10-11周）评阅及答辩 （12周）摘 要虚拟样机技术就是在建造第一台物理样机之前,设计师利用计算机技术建立
3、机械系统的数字化模型,进行仿真分析并以图形方式显示该系统在真实工程条件下的各种特性,从而修改并得到最优设计方案的技术。ADAMS软件是目前国际上应用最为广泛的虚拟样机分析软件，用户可以运用该软件非常方便地对虚拟机械系统进行静力学、运动学和动力学分析。但针对复杂的机器人机械系统，要想准确的控制其运动，仅依靠ADAMS软件自身也很难做到；MATLAB软是Mathworks公司开发的一种集计算、图形可视化和编辑功能于一体的优秀数学应用软件，具有强大的计算能力，能够建立复杂的控制模型准确控制复杂机器人系统的运动；OpenGL（开放式图形库全称）是SGI公司开发的底层三维图形API，目前在图形开发领域已
4、成为工业标准。使用OpenGL可以创建视觉质量接近射线跟踪程序的精致漂亮的3D图形。Visual C+ 6.0已经成为集编辑、编译。运行、调试为一体的功能强大的集成编程环境，在Windows编程中占有重要地位。OpenGL和Visual C+ 6.0有紧密接口，利用二者可以开发出优秀的视镜仿真系统。ADAMS、MATLAB和Visual C+ 6.0由于定位不同，都有各自的优势和缺点，但是三者之间又可以通过接口联合控制或者混合编程。本文分别利用ADAMS对三自由度机器人的运动学和轨迹优化方案进行研究，利用Visual C+ 6.0、OpenGL和从MATLAB里导出的控制模型的数据对三自由度机
5、器人进行了视景仿真的研究。论文首先通过建立坐标系和矩阵变换，对刚体的空间表示进行了阐述，然后采用通用的D-H法则，将机器人关节角度参数化，推导出其正运动学方程和逆运动关节角，并计算出机器人手部的初始坐标。其次采用ADAMS软件，详细介绍了机器人三维建模过程，包括整体框架构建，单个构件绘图和布尔运算等，并对机器人关节点进行了参数化设计。最后从机器人轨迹规划的基本原理和方法出发，比较分析了关节空间轨迹规划和直角坐标空间轨迹规划的差别，并采用三次多项式和五次多项式对机器人进行了轨迹规划，利用ADAMS软件中内嵌的Step函数对运动轨迹进行了仿真分析。然后在Windows XP Professiona
6、l的系统环境下，以Visuall C+6.0为开发工具，建立了三自由度机械手视景仿真系统模型，实现了仿真系统对MATLAB控制模型导出数据的读取和利用。关键词:运动学 轨迹规划 ADAMS虚拟样机技术 视景仿真 纹理映射AbstractBefore manufacturing the first physical prototype, the designers used computertechnology to build a mechanical system of digital model for analysis simulation, whichshowed that the s
7、ystem works in real conditions of the various characteristics, so as to berevised and Optimal design. This process is called Virtual prototyping technology.Now ADAMS software is widely used in virtual prototyping analysis in the world, itis very convenient for the user to use this software ot do the
8、 statics, kinematics anddynamics analysis for the virtual machine system.But to the complicated robotmechanical system,it is also very hard to do the accurate control of its movement onlyrely on ADAMS software itself ;MATLAB is one of the outstanding mathematicsapplication software integrating calcu
9、lation, graphical visualization and editing functionsdeveloped 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 systemscomplicated movement . OpenGL(the full name of Open graphics libraries) is a 3D
10、graphics Application Programming Interface in the bottom,now having been the industrystandard in the area of graphics developing.You can create delicate and beautiful 3Dgraphics using OpenGL,whose visual quality is close to ray tracing program . Visual C + 6.0 has become powerful integrated programm
11、ing environment with editing, compiling.Operating and debugging, and occupies an important position in the Windowsprogramming. Visual C + + 6.0 and OpenGL has close interface, using them we candevelop good endoscopic simulation system. Because of the different due , ADAMS,Visual C + + 6.0 and MATLAB
12、 have their own respective advantages and disadvantages,but we can also do the joint control or mixing programming through the interfacebetween the three.In this paper, the author do research tokinematics and trackoptimization scheme of 3-dof robot based on ADAMS , also do the Visual simulationresea
13、rch of 3-dof robot using the data of the control model derived from the MATLABbased on Visual C + + 6.0 and OpenGL.First of all, through the establishment of coordinates and matrix transformation, therigid body of the space that was elaborated, and then use the D-H rule, Robot parametersof the joint
14、 were gained, equations of motion were given, and the joints angle wereknown , initial coordinates of Robot hand can be calculated. Followed by ADAMSsoftware, 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 basicprinciples and methods of robot trajectory planning, and compared differences betweenthe joint space trajectory planning and rectangular coordinates space trajectory planning.the
