基于视觉力觉的智能机器人合作装配系统开发-机械电子工程专业论文.docxVIP

西安理工大 西安理工大学硕士学位论文 II I I II II Abstract Title: INTELLIGENT ROBOT COOPERATION ASSEMBLY SYSTEMS DEVELOPMENT BASED ON VISUAL / FORCE SENSOR ? Major：Mechatronic Engineering Name：Lei Zhou Signature: Supervisor：Prof.Weiping Fu Signature: Abstract Assembly is the most time-consuming phase in the production process, improving the efficiency of assembly automation is one of the urgent problems in the process of manufacturing industry, and the intelligent robot cooperative assembly is an effective approach to solve the problem. Based on the transformation of traditional teaching robot,the author builds the intelligent robot assembly system based on visual / haptic , the main research work done as follow. This paper conducts the overall scheme and control system process design of robot cooperation assembly system. By a global vision platform and two isomorphic robot with visual/force sensors,the thesis constructs cooperative assembly system. The author accomplish the control system structure and the main control process, planning the main function module of robot. The author accomplishes kinematics analysis and path planning of the assembly robot. The fist step is robots spinor theorem forward kinematics analysis and Jacobian time interpolation inverse kinematics analysis. The scond step is assembly robot plane space path planning model based on behavioral dynamics. Development of assembly robot cooperation system. The writer transforms the original assembly robot off-line teaching into no-teaching real-time control way; Using socket network programming technology based on TCP/IP protocol, this paper accomplishes the resolution of a cooperative assembly system PC LAN data exchange problem and realizes the real-time data exchange between VC++ platform on the PC and the CoDeSys platform on the IPC. Through the VC++ call Matlab dynamic link library,the robot applies behavior dynamics algorithm to control the end effector of robot to avoid obstacles in two-dimensi