多信息融合精密装配机器人建模与控制方法研究

doi:10.3969/j.issn.0372-2112.2018.03.018

电子学报 ›› 2018, Vol. 46 ›› Issue (3): 636-640.DOI: 10.3969/j.issn.0372-2112.2018.03.018

多信息融合精密装配机器人建模与控制方法研究

李壮举¹, 梅杰¹, 曹少中², 赵伟²

1. 北京建筑大学电信学院, 北京 100044;
2. 北京印刷学院高端印刷装备信号与信息处理北京市重点实验室, 北京 102600

收稿日期:2016-09-06 修回日期:2016-12-06 出版日期:2018-03-25
- 作者简介:
- 李壮举,男,1975年生于河南南阳,工学博士,研究方向为多变量系统解耦控制、复杂系统的控制研究、机器人技术研究.E-mail:lizhuangju@bucea.edu.cn;梅杰,男,1991年生于河南驻马店,硕士研究生,研究方向为复杂系统的控制研究、机器人技术研究.E-mail:2358759207@qq.com;曹少中,男,1965年生于河北保定,工学博士,北京印刷学院信息工程学院教授,研究方向为非线性系统理论、机器人控制理论.E-mail:caoshaozhong@bigc.edu.cn;赵伟,男,1983年生于山东泰安,工学博士,北京印刷学院信息工程学院讲师,研究方向为机器人技术.E-mail:zhaoweihu@163.com
- 基金资助:
- 国家自然科学基金 (No.61272030， (No.61472461）

Modeling and Control of Automatic Precision Assembly Robot with Multi-information Fusion Measuring System and Control Algorithm

LI Zhuang-ju¹, MEI Jie¹, CAO Shao-zhong², ZHAO Wei²

1. School of Electrical and Information Engineering, Beijing University of Civil Engineering and Architecture, Beijing 100044, China;
2. Beijing Key Laboratory of Signal and Information Processing for High-End Printing Equipment, Beijing Institute of Graphic Communication, Beijing 102600, China

Received:2016-09-06 Revised:2016-12-06 Online:2018-03-25 Published:2018-03-25

摘要/Abstract

摘要： 本文针对印刷机轴承套筒质量大、配合精度高、人工安装效率低、对操作人员伤害大的问题，基于六自由度微动平台设计了一种多信息融合印刷机精密装配机器人，该机器人具有粗测系统和探入式精确测量系统能够代替人工自动完成印刷机套筒的装配.对该机器人来说，精确测量是完成装配的基础.本文提出了探入式测量工装的使用策略，建立了探入式测量工装的读数与平台和通孔的相对的位姿关系，最终通过测量工装得到了机器人上板的速度与加速度.之后利用滑模控制方法建立了控制器，并证明了稳定性，为实现印刷机精密装配奠定了理论基础.

关键词: 印刷机精密装配机器人, 多信息融合, 六自由度, 平台运动学, 滑模控制

Abstract: The printing machine's sleeves are heavy, and must be fit with high accuracy, so, hand operation is hard and low work efficiency, and large body injury for assembling workers. For solve these problems, a printing automatic precision assembly robot with multi-information fusion measuring system is designed. Precision measure is the base of precision assembly. The strategy of using probe-into measure tooling is put forward, which establishes the relative pose relations among the readings of probe-into measure tooling, platform and the through-holes. Thus, eventually, we can obtain the relationship between the readings of measure tooling and the pose of top plate, and then we can obtain the velocity and acceleration of top plate. Sliding mode controller is established for control this robot. The stability of the proposed controllers is proved. Our work will be the theoretical base of the printing automatic precision assembly robot.

Key words: printing automatic precision assembly robot, multi-information fusion, six degree of freedom platform, kinematics, sliding mode control

中图分类号:

TP273

李壮举, 梅杰, 曹少中, 赵伟. 多信息融合精密装配机器人建模与控制方法研究[J]. 电子学报, 2018, 46(3): 636-640.

LI Zhuang-ju, MEI Jie, CAO Shao-zhong, ZHAO Wei. Modeling and Control of Automatic Precision Assembly Robot with Multi-information Fusion Measuring System and Control Algorithm[J]. Acta Electronica Sinica, 2018, 46(3): 636-640.

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多信息融合精密装配机器人建模与控制方法研究

Modeling and Control of Automatic Precision Assembly Robot with Multi-information Fusion Measuring System and Control Algorithm

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