Slide 1

Bi gingRobot cng nghip1Robot cng nghip1Robot cng nghipRobot cng nghip26/09/2012Chng 1: Gii thiu v robot cng nghip

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1.1. Thi k ca nhng t tng v robot1. Clepsydra-1400 trc CN ng h nc ca ngi Babilon

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Hnh 1.1. ng h nc ca ngi BabilonRobot cng nghip26/09/2012Robot cng nghip32. Robot ca LeonadaVinci 1495

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Hnh 1.2. Robot m phng ngi ca LeonardoLeona to ra mt con robot c hnh dng ging nh ngi nhm chng t c th con ngi hon ton c th m phng li c. ng vn dng nhng hiu bit v gii phu hc v nhiu khoa hc khc xy dng nn robot ny. N i m st, mc trang phc ca mt hip s, c th i li, ng, ngi, m ng ming v vy tay. N cng c th c ng u t bn ny sang bn kia nh c mt ci c linh hot. ng ch l robot ny c mt c cu hm rt ging vi con ngi v mt gii phu hc. Sng to ny ca ng m rng gi thit l c th con ngi, v mt cu trc, l mt c my hon chnh, v nhng c ng phc tp ca c th c th c m phng bng cch s dng nhng c cu nh n by v rng rc. M hnh thit k ny ca Da Vinci l c s, l ngun cm hng cho c quan hng khng v tr quc t NASA pht trin mt loi robot - Anthrobot thay con ngi trn cc trm v tr quc t v tr gip con ngi chinh phc sao ha.

Robot cng nghip53. Ch vt ca Vaucanson- 1737

Robot cng nghip6Th k 18 l thi k vng son ca nhng vt mang tnh trit hc, v thin ti c nh hng nht thi k ny chnh l Jacques de Vaucanson. Nhng sng to tuyt vi ca ng c ngng m v cho n trn ton Chu u, c cc v vua v cc nh khoa hc ngi khen v knh n. Nh bc hc Voltaire gi ng l Prometheus mi. Ging nh v thn Hy Lp , Jacques de Vaucanson c sc mnh to ra cuc sng.

Hnh 1.3. Ch vt ca Vaucauson

4. Khung ci ca Jacquard.Robot cng nghip7Khung ci ca nh pht minh ngi Php Joseph Marie- Jacquard l chic khung ci c th t ng dt nhng mu hoa vn v hnh v cc k phc tp vi tc ging nh dt nhng mnh vi trn khng c ha tit.

Hnh 1.4 Khung ci ca Jacquard5. V kch Rossums Universal Robots (Karl Capek-1921)

Khong nm 1921 nh vit kch ngi Sc Karl Capek vit v kch mang tn Rossums Universal Robots, trong t Robot l tn mt loi my t ng tiu dit ng ch v chim lnh th gii. Loi my ny ging con ngi, c kh nng lm vic gp i con ngi. Chnh v l , thi im nm 1921 c coi l mc ra i ca thut ng Robot

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Hnh 1.5. Hnh nh cc ch Robot tn cng ng ch1.2. Thi k ca robot cng nghip v nhng ct mc quan trng

Nhng robot thc s c ch c nghin cu a vo nhng ng dng trong cng nghip thc s li l nhng tay my. Vo nm 1948, nh nghin cu Goertz nghin cu ch to loi tay my i iu khin t xa u tin, v cng nm hng General Mills ch to tay my gn tng t s dng c cu tc ng l nhng ng c in kt hp vi cc c hnh trnh. n nm 1954, Goertz tip tc ch to mt dng tay my i s dng ng c servo v c th nhn bit lc tc ng ln khu cui. S dng nhng thnh qu , vo nm 1956 hng General Mills cho ra i tay my hot ng trong cng vic kho st y bin.

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1.2.1. Robot cng nghip u tin lp trnh c Unimate nim bin in t thnh ng lc pht trin song song vi c kh c William Grey Walter thc hin trong nm 1948 vi vic ch to ra loi robot t ng in t. Su nm sau c my robot u tin c lp trnh k thut s ra i v George Devol t tn cho sn phm ca mnh l Unimate. Robot Unimate l robot cng nghip u tin, c s dng trong mi trng lp rp motor ti nh my ni a . George Devol l ngi u tin vit chng trnh cho robot.ng l ngi t tn cho nhm lm vic ca mnh l Universal Automation, sau ny ng rt gn li l UnimationCc cng ty v tp on cng ngh nh Microsoft nhanh chng pht hin robot s li tr thnh mt hin tng nh smartphone hay tablet v h nhanh chng pht trin nn cc nn tng (platform) hay h iu hnh robot ROS (robotics operation system).

Robot cng nghip111.2.2. Robot Puma

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Hnh 1.6. Robot Puma

1.2.3. Robot cng nghip nm 1980Nm 1980 l thi k robot cng nghip trng thnh nhanh chng. Nhiu t chc gii thiu v chng trnh v kha hc v robot. Robot lc ny c xem nh s kt hp ca c kh, in v khoa hc my tnh

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Hnh 1.7. Cc loi robot nm 19801.2.4. Robot cng nghip nm 1995

Cc loi robot loi nh v robot t hnh bt u c nghin cu

Hnh 1.8. Robot t hnh

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1.2. Cc kiu robot1.2.1. Robot kiu tay my

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Hnh 1.9. Robot kiu tay my1.2.2. Robot di chuyn trn mt t

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Hnh 1.10. Robot di chuyn bng chn1.2.3. Robot hot ng trong mi trng nc

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Hnh 1.12. Robot di chuyn trong mi trng nc1.2.4. Robot hot ng trn khng

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Hnh 1.13. Robot hot ng trn khng 1.3 Mc ch s dng robot

1. Robot lm nhng vic nguy him i vi con ngi

Hnh 1.14. Robot lm vic trong mi trng nguy him i vi con ngi

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2. Robot lm nhng vic lp li, gy nhm chn i vi con ngi, hay nhng vic cn sc mnh v tp trung cao m con ngi khng p ng c

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Hnh 1.15. Robot hn

Robot cng nghip26/09/2012Robot cng nghip20 3. Robot lm nhng vic m con ngi khng mun lm

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Hnh 1.16. Robot lm vic con ngi khng mun lm1.4. C s nghin cu robot

C hc v k thut c khTon hc cung cp cc cng c, thut ton, phng php m t ton hck thut tnh ton xoay quanh vn thit k robot v ng dng robotiu khin hc tp trung vo gii quyt vo cc phng php, k thut iu khin robot hot ng c theo ng yu cu chc nng cng tcK thut in v in t tp trung vo i tng b iu khin v h thng in trong robot. Ti u h thng mch tch hp x l tn hiu, mch cng sut, mch giao tip vi tn hiu cm nhn, mch thu pht tn hiu t xaKhoa hc my tnh gii quyt cc vn c s tnh ton, lp trnh x l tn hiu iu khin trc tip cho cc c cu dn ng, xy dng cc thut ton cho cc ng dng robot

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Hnh 1.17. Cc thnh phn lm nn robot1.5.Mt s kin thc ton cn lu

Ma trn:

Ma trn chuyn v

Ma trn ct v ma trn hng

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1.5.1 Ma trn vung

nh ngha: Ma trn A c s hng bng s ct (m=n) c gi l ma trn vung. Ma trn vung c nxn cn c gi l ma trn vung cp n

Ma trn ng cho: AMa trn n v: E

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1. nh thc ca ma trn vung cp n

nh thc con v phn ph i s:nh thc con Mik ca phn t aik ca ma trn vung A l nh thc cp n-1 suy ra t A bng cch b i hng th i v ct th k. Phn ph i s ca phn t aik ca ma trn vung A, k hiu l Aik, c nh ngha bi cng thc sau:Aik=(-1)i+kMiknh thc cp n:

Trong k c th ly mt trong gi tr t 1 n n

Trong i c th ly mt trong gi tr t 1 n n

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2. Ma trn chnh quy v ma trn k d:Cho A l ma trn vung cp n. Nu detA # 0 ma trn A c gi l ma trn chnh quy. Ngc li nu detA=0 th ma trn A c gi l ma trn k d3. Ma trn i xng v ma trn i xng lchcho A l mt ma trn vung cp n. Nu aij=aji (vi mi i, j) th ma trn A c gi l ma trn i xng. Nu aij =-aji (vi mi i, j) th ma trn A c gi l ma trn i xng lchnu A l ma trn i xng th A=AT. Nu A l ma trn i xng lch th A=-AT, aii=0 (vi mi i)

Robot cng nghip274. Php nhn hai ma trn:Cho A l ma trn c mxp, B l ma trn c pxn. Tch ca hai ma trn A v B l ma trn C c mxn c xc nh bi cng thc sau:

Php nhn hai ma trn khng c tnh cht giao hon nhng c tnh cht kt hp v tnh cht phn phiA(B+C)=AB+ACA(BC)=(AB)CAB#BA5. Ma trn nghch o:Cho A l ma trn vung cp n. Nu detA #0 th s tn ti mt ma trn A-1 m Ma trn A-1 c gi l ma trn nghch o ca ma trn A6. Ma trn trc giaoCho A l mt ma trn vung cp n. Ma trn A c gi l ma trn trc giao nu nh:AAT=ATA=E7. Ma trn trc giao c tnh cht sauA-1=ATdetA=1

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1. nh ngha:Cho vc t hnh hc trong khng gian ba chiu. Trong h quy chiu vc t c th biu din di dng

Nh th vc t hnh hc khng ph thuc vo vic chn h quy chiu v vc t i s th ph thuc vo h quy chiu.

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1.5.2. Vc t i s trong khng gian ba chiu2. Khi nim ton t sng ca vc t trong khng gian ba chiunh ngha. Cho vc t trong khng gian ba chiu a=[a1, a2, a3]T. Ton t sng ca vc t i s a l mt ma trn vung cp ba v c nh ngha nh sau

3. Cc php tnh i s vc t:

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Chng 2: C s ng hc robot cng nghip

Robot cng nghip312.1. Khi nim im nh v v hng ca vt rn

V tr ca h quy chiu O1X1Y1Z1 vi h quy chiu c nh O0X0Y0Z0 c xc nh bi vc t:

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z0y0x0x1y1z1O1O0B

Hnh 2.1. M t v tr v hng ca vt rn Trong khng gian2.2. Ma trn csin ch hng

a. nh ngha ma trn cosin ch hngXt vt rn B Trong hnh 2.1, ma trn cosin ch hng ca vt rn B i vi h quy chiu O0X0Y0Z0 c nh ngha nh sau:

Trong : b. ngha ca ma trn cosin ch hng

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2.3. Cc tnh cht c bn ca ma trn cosin ch hng

nh l 2.1: Ma trn cosin ch hng l ma trn trc giaonh l 2.2: Ma trn cosin ch hng c nh thc bng 1nh l 2.3: Ma trn cosin ch hng c t nht mt tr ring bng 1

Robot cng nghip342.4. nh l Euler v chuyn ng quay hu hn ca vt rn quanh mt im c nh

nh l 2.4: Cho R0 v R1 l hai h quy chiu c chung im gc ti O. H quy chiu R1 gn cht vo vt rn B. A l ma trn cosin ch hng ca vt rn B i vi h quy chiu R0. Ta c th quay h quy chiu R0 sang h quy chiu R1bng mt php quay hu hn quanh trc i qua O. Hng ca trc l hng ca vc t ring ng vi tr ring =1 ca ma trn cosin ch hng A.

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2.5 Cc ma trn quay c bn

Quy c: Hng quay dng mt trc l hng quay ngc chiu kim ng h

Cc php quay quanh trc x, y, z ca h quy chiu R c gi l cc php quay c bn

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Ma trn cosin ch hng ca php quay quanh trc x:

Ma trn cosin ch hng ca php quay quanh trc y:

Ma trn cosin ch hng ca php quay quanh trc z:

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2.6. Cc ta suy rng xc nh hng ca vt rn

Cc ta suy rng xc nh v tr ca vt rn quay quanh mt im c nh thng c s dng l: cc gc Euler, cc gc Cardan, cc gc Roll-Pitch-Yaw, cc tham s Euler, cc tham s Rodrigues.

Robot cng nghip382.6.1. Cc gc Euler

V tr ca vt rn B quay quanh im O c nh xc nh bi h quy chiu ng Oxyz( gn cht vo vt rn B) i vi h quy chiu c nh Ox0y0z0. Gi s giao ca mt phng Ox0y0 v Oxy l ng OK. Trc OK ny gi l ng nt

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Ba gc (, , ) l ba gc Euler. Ta c th quay h quy chiu Ox0y0z0 sang h quy chiu Oxyz bng ba php quay nh hnh v:Quay h quy chiu R0 = Ox0y0z0 quanh trc Oz0 mt gc . Quay h quy chiu R1 = Ox1y1z1 quanh trc Ox1 mt gc . Quay h quy chiu R2= Ox2y2z2 quanh trc Oz2 mt gc .

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Cc ma trn ng vi php quay Euler

Ma trn quay h quy chiu Ox0y0z0 sang h quy chiu Oxyz bng ba php quay Euler gi l ma trn quay Euler v c k hiu l AE. Ma trn ny cng chnh l ma trn cosin ch hng ca h quy chiu Ox0y0z0 sang h quy chiu Oxyz

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2.6.2. Cc gc Roll-Pitch-Yaw

Quay h quy chiu c nh Ox0y0z0 sang h quy chiu Oxyz bng ba php quay Roll-Pitch-Yaw nh hnh vQuay h Ox0y0z0 quanh trc Oz0 mt gc ty (gc Roll). Quay h Ox1y1z1 quanh trc Oy1 mt gc (gc Pitch). Quay h Ox2y2z2 quanh trc Ox2 mt gc (gc Yaw).

Robot cng nghip42Hnh 2.10. Php quay Roll-Pitch-Yaw

Cc ma trn quay tng ng vi ba php quay Roll-Pitch-Yaw:

Ma trn quay Roll-Pitch-Yaw chuyn h quy chiu c nh Ox0y0z0 sang h quy chiu Oxyz:

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2.7. Vn tc gc ca vt rn

2.7.1. nh ngha vn tc gc ca vt rnnh ngha: Ly l mt vct ty khc khng ca vt rn B. Vn tc gc ca vt rn B i vi h quy chiu R0 l mt vct, k hiu l , m nhn vi vct ta c o hm :

Vn tc gc l duy nht.Tn ti o hm ca vct Ta c th vit ngn gn vn tc gc ca vt rn l

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2.7.2. Cc nh l v vn tc gc ca vt rn

Xc nh vt tc gc ca vt rn qua cc vct n v ca h quy chiu gn lin vo vt rn.

nh l 2.5: Trong c s vung gc gn lin vo vt rn B. Vn tc gc B i vih quy chiu R0 c xc nh bi cng thc:

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Xc nh vn tc gc ca vt rn t ma trn cosin ch hng.

nh l 2.6: Cho A l ma trn cosin ch hng ca vt rn B trong h quy chiu R0 = Ox0y0z0 . Khi ton t sng ca vc t vn tc gc ca vt rn trong h quy chiu c nh R0 c xc nh bi cng thc:

Trong :

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2.7.3. Cng thc cng vn tc gc ca vt rn

a. o hm ca vc t trong h quy chiu khc nhau

o hm h thc 2.13 theo thi gian trong h quy chiu R0 ta c:

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b. Cng thc cng vn tc gc ca vt rn

Xt mt vct ty ca vt rn B hnh:

Mt khc t cng thc 2.14 ta c phng trnh:

Thay (1), (2) vo (3) ta c:

T (4) ta suy ra:

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2.8. Vn tc mt im bt k thuc vt rn

V tr ca im B c xc nh bi vc t sau:

o hm theo thi gian cng thc 2.16 trong h quy chiu R0 ta c:

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Theo nh ngha vt tc gc ca vt rn ta c:

Thay vo cng thc 2.17 ta c:

Chiu phng trnh 2.18 ln h quy chiu R0 ta c:

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Chng 3: ng hc thun robot cng nghip

Robot cng nghip513.1. nh ngha ta thun nht

3.1.1. Ta vt lV tr ca im P trong khng gian ba chiu Oxyz c xc nh theo cng thc sau:

Cc ta (x, y, z) c gi l cc ta vt l ca im P trong khng gian ba chiu. Ta k hiu:

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3.1.2. Ta thun nht

Cc php bin i thun nht c dng nhm mc ch kt hp cc php bin i tnh tin v quay thnh mt php bin i mi. thc hin iu ny ta a vo khi nim ta thun nht nh sau: Gi s im P(x,y,z) TRong khng gian ba chiu Oxyz . Khi ta thun nht ca im P c nh ngha bi: r = [x, y, z, ]T (3.3)( l i lng v hng khc 0 ty , Trong k thut thng chn l 1).

Robot cng nghip533.2. Php bin i thun nht v ma trn bin i thun nhtXt vt rn B chuyn ng Trong h quy chiu c nh O0x0y0z0. Gi P l im bt k thuc B. Ta c:

(3.4)

(3.5)

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z0y0x0x1y1z1O1O0B

P

Vit li phng trnh di dng cc ta thun nht ta c:

(3.6)

t:

(3.7)

Ma trn T gi l ma trn bin i thun nht cn php bin i (3.6) gi l php bin i thun nht.

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3.3 Ma trn nghch o ca ma trn bin i thun nhtnh l 3.1: Ma trn nghch o T-1 ca ma trn bin i thun nht c xc nh theo cng thc sau:

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3.4. Cc ma trn quay c bn thun nht v ma trn tnh tin thun nht

Ma trn quay c bn thun nht

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Ma trn tnh tin thun nht:

Nu thc hin tnh tin ng thi trn cc trc x, y, z ta c ma trn thun nht sau:

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3.5 Phng php ma trn DENAVIT-HARTENBERG

3.5.1. Cch xc nh cc trc ca h ta khp

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Cc tham s ng hcTrc zi-1 c chn dc theo hng ca trc khp ng th iTrc xi-1 c chn theo ng vung gc chung ca hai trc zi-2 v trc zi-1Gc ta Oi-1 c chn ti giao im ca trc xi-1 v trc zi-1Trc yi-1 c chn sao cho h ta (OXYZ)i l tam din thuni vi h ta (OXYZ)0 theo quy c trn ta mi chn c trc Z0 trc X0 c chn ty min l vung gc vi trc Z0i vi h ta (OXYZ)n do khng c khp n+1 nn theo quy c trn ta khng xc nh c trc Zn . V vy c th chn ty sao cho hp lKhi hai trc Zi-2 v Zi-1 song song vi nhau, gia hai trc ny c nhiu php tuyn chung, ta c th chn Xi-1 hng theo php tuyn chung no cng c.Khi khp i l khp tnh tin v nguyn tc c th xc nh Zi-1 mt cch ty .Tuy nhin trong nhiu trng hp chn Zi-1 dc theo trc ca khp tnh tin

Robot cng nghip603.5.2. Cc tham s DENAVIT-HARTENBERG

V tr h ta khp (OXYZ)i i vi h ta khp (OXYZ)i-1 c xc nh bi bn tham s Denavit-Hartenberg i, di, ai,i nh sau:i :Gc quay quanh trc Zi-1 trc Xi-1 chuyn n trc Xi (Xi song song vi Xi)di : Dch chuyn tnh tin dc theo trc Zi-1 gc ta Oi-1 chuyn n Oi, giao im ca trc Xi v trc Zi-1 ai: Dch chuyn tnh tin dc theo trc Xi im Oi chuyn n im Oii :Gc quay quanh trc Xi sao cho trc Zi-1 (Zi-1 // Zi-1) chuyn n trc Zi

Robot cng nghip613.5.3. Ma trn Denavit-Hartenberg

Ta c th chuyn h ta khp (OXYZ)i-1 sang h ta khp (OXYZ)i bng php bin i c bn sau:1. Quay quanh trc Zi-1 mt gc i2. Dch chuyn tnh tin dc trc Zi-1 mt on di3. Dch chuyn tnh tin dc trc Xi mt on ai4.Quay quanh trc Xi mt gc i

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3.5.4. Phng trnh xc nh v tr khu thao tc (bn kp) ca robot

Robot cng nghip63Xt m hnh robot gm n khu nh hnh v:

S dng cc php bin i thun nht ta xc nh c ma trn thun nht ch v tr v hng khu tc ng cui nh sau:Dn= 0Hn = 0H11H2n-1HnNh vy nu v tr v hng ca khu tc ng cui c cho trc theo ma trn thun nht 0AE th ng nht cc phn t ca hai ma trn 0Hn v 0AE ta c cc phng trnh m t ng hc ca robot.

3.6. Cc th d p dng

Th d 3.1Cho s robot phng hai khu. Hy thit lp ma trn Denavit-Hartenberg D2 v phng trnh xc nh im E Ma trn Denevit-Hatenberg (DH)

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Ta c:Do :

Ta ca im thao tc cui (E):

Ch k hiu:C1=cos(q1) S1=sin(q1)C12=cos(q1+q2) S12=sin(q1+q2) S n gin hn cho cch vit.

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Th d 3.2Cho m hnh robot Scara 4 bc t do nh hnh v. Cc kch thc xc nh nh hnh v. Xc nh vn tc trng tm cc khu v vn tc gc cc khu.

Hnh 3.6. H trc ta ca robot Scara bc Robot cng nghip66

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Mt khc:

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S dng Maple ta tnh c v tr trng tm cc khu nh sau:

Suy ra vn tc trng tm cc khu:

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Theo trn ta c ma trn cosin ch hng ca cc khu l:

Ta c:

Do :

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Chng 4: Gii bi ton ng hc ngc robot cng nghip

Robot cng nghip71Khi gii bi ton ng hc ngc, ta cn quan tm n nhim v thao tc v kt cu ca robot. C th l :-Trong bi ton cng ngh cho bit chuyn ng ca im nh v v hng quay ca khu thao tc hay ch cho bit chuyn ng ca im nh v ca khu thao tc.-Trong bi ton cng ngh ch quan tm n v tr u v v tr cui ca khu thao tc hay cn quan tm n mt v tr trung gian ca khu thao tc-S bc t do ca robot bng hay ln hn s cc ta xc nh v tr (im nh v v hng ) ca khu thao tc.

Robot cng nghip724.1 Gii bi ton ng hoc ngc robot cng nghip

Bi ton ng hc ngc c ngha c bit quan trng trong lp trnh v iu khin chuyn ng ca rbt. T bi ton thun ta bit phng trnh xc nh v tr ca khu thao tc cui: x = f(q). (4.1)By gi gi s x bit, cn tm q theo phng trnh sau: q = f -1(x) (4.2) Trong :q = [q1, . . , qn]T l vc t to suy rng bin khpx = [x1, , xm]T l vc t to suy rng ca khu thao tc (bn kp).Vi n: l s to suy rng khp (s bc t do ca rbt) m: l s to suy rng ca bn kp (m 6)

Robot cng nghip73C 3 trng hp xy ra:Khi m = n, rbt c cu trc ng hc cn bng hay cu trc chun. Khi m < n, rbt c cu trc d dn ng. Khi m > n, rbt c s to suy rng khp t hn s to suy rng khu thao tc, phng trnh (4.1) khng gii c.

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gii c phng trnh ny ta c hai cch gii: Phng php gii tch.Phng php s.

Robot cng nghip754.2. Phng php gii tch

Khi gii bi ton ng hc thun bng phng php ma trn Denavit-Hartenberg ta c ma trn bin i xc nh v tr ca khu thao tc l:

T xc nh c ma trn cosin ch hng ca khu thao tc v vc t nh v im thao tc E l cc hm ca ta suy rng c dng

Mt khc t nhim v cng ngh ca khu thao tc ta c ma trn cu hnh ca khng gian thao tc i dng hm ca cc ta thao tc

T ta c:T cc phng trnh 4.6 s dng phng php hnh hc v i s ta c th tm c cc hm xc nh ta khp:q = f -1(x) ch : phng trnh 4.6 ch c 6 phng trnh c lp

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Cc th d p dng

V d 4.1Cho s robot phng hai khu. Xc nh ta khp khi bit ta im E(XE,YE)Ma trn Denevit-Hatenberg (DH)

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Bnh phng hai v phng trnh (1) v (2) ta c: V q2>0 nn:

Thay (4) vo ( 2) v gii phng trnh lng gic ta c:t:

Suy ra:

Vy:

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V d 4.2Cho robot Scara 4 bc t do nh hnh v. cho bit v tr khu tc cui xE(t), yE(t), zE(t), (t). Xc nh gi tr cc bin khp q1(t), q2(t), q3(t), q4(t).

Hnh 4.2. H trc ta ca robot Scara bcChn ta suy rng nh sau:

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T hnh v ta suy ra bng tham s ng hc Denavit-Hartenberg

Ma trn xc nh hng v v tr khu thao tc cui ca robot scara l:

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Ly tng bnh phng (1) v (2) ta c

Vy ta c:q2=atan2(sinq2, cosq2); (5)Thay q2 vo (1) v (2) ta c:

Suy ra: (6) Cc phng trnh (6) l mt h phng trnh i s vi n l C1 v S1Gii ra ta c:

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Suy ra q1=atan2(sinq1, cosq1); (7)T (3) suy ra q4= -zE(t)+d1(8)T (4) suy ra q3= (t)-q1-q2(9)Cc biu thc (5), (7), (8) v (9) xc nh cc ta khp theo ta khao thao tc.

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4.3. Phng php s

Phng trnh 4.1 c th vit li thnh: f(x)=0; (4.7) Vi: f = [f1, f2, f3, , fk] T (k6) x = [qT, pT] T q = [q1, q2, ,qn] T p = [x, y, z, rotx, roty, rotz] T

Robot cng nghip83Robot cng nghip26/09/2012Robot cng nghip834.3.1. Phng php Newton Raphson

Gii thut Newton Raphson.Ta xy dng di chui cc vector {q(k)}. Biu thc quy hi c dng nh sau: q(k+1) = q(k) Jq-1(q(k)) . f(q(k))t k = 0 (bin chy)Chn gi tr u q(0)Tnh f(q(k)). So snh |fi(q)| < epsilon (sai s cho trc) vi i = 1..n th dng, nu khng th tip tc Tnh ma trn Jacobi ti q(k) (tnh Jq(q(k)))Tnh q(k) theo cng thc: Jq(q(k)). q(k)=-f(q(k))Tnh q(k+1) theo cng thc q(k+1)= q(k) + q(k)Tng bin chy k := k+1 nu k >M vi M l bc lp chn th dng, nu khng th gn q(0):=q(k+1) v tip tc t bc th ba.

Robot cng nghip84Vn tc v gia tc cc bin khp xc nh nh sau:o hm biu thc (4.1) ta c:

Nu J(q) l ma trn khng suy bin ta c:

Th (4.10) vo (4.11) ta c:

Ch

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Cc th d p dng

Cho s robot phng hai khu. Xc nh ta khp khi bit ta im E(XE,YE)XE=0.8*sin(Pi/300*t)+0.1 (m); YE=0.8*cos(Pi/300*t)+0.1 (m); a2=0.5 (m)

Gii bi ton ng hc ngc bng phng php s Newton-rapson ta c:

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th cc bin khp:

th vn tc cc bin khp

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th gia tc cc bin khp:

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Cho robot Scara 4 bc t do nh hnh v. cho bit v tr khu tc cui xE(t), yE(t), zE(t), (t). Xc nh gi tr cc bin khp q1(t), q2(t), q3(t), q4(t)XE(t)=0.6sin(Pi/300*t)+0.01 (m); XE(t)=0.6cos(Pi/300*t)+0.01 (m);zE=0.3 (m); (t)= Pi/2;

Hnh 4.2. H trc ta ca robot Scara bcChn ta suy rng nh sau:

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th cc bin khp

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th vn tc cc bin khp

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th gia tc cc bin khp

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Chng 5 ng lc hc robot cng nghipRobot cng nghip935.1. C s l thuyt tnh ton ng lc hc robot

5.1.1. Biu thc ng nng rbt cng nghip xc nh t cc ma trn Denavit HartenbergXt m hnh rbt c n bc t do, ma trn Denavit Hartenberg chuyn to mt im t h qui chiu Ri v h qui chiu R0 nh sau:

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Robot cng nghip95 (5.2) (5.2)Vit di dng ma trn ta c (5.3)

Suy ra vn tc trng tm khu th i (5.4)vn tc gc khu th i i vi h to c s: (5.5)

(5.6)

Suy ra vn tc gc khu th i trong h to c s: (5.7)

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Biu thc ng nng ca khu th i (5.8)Trong mi: khi lng khu th iICi: ma trn ca tenx qun tnh ca khu t i i vi khi tm Ci ca n trong h to R0Biu thc ng nng ca h n vt rn (5.9)

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5.1.2. Biu thc th nngrbt cng nghip xc nh t cc ma trn DH

Biu thc th nng ca khu th i (5.10)Trong : (5.11)Biu thc tng th nng ca h n khu

(5.12)Robot cng nghip98

5.1.3. Thit lp phng trnh vi phn chuyn ng ca rbt cng nghip bng phng php Lagrange loi hai

Robot cng nghip99Xt mt h gm n bc t do, ta s da vo khi nim ma trn Jacobi, thit lp dng thc Lagrange loi hai cho h nhiu vt hlnm.

K hiu cc to suy rng ti thiu l: q = [q1, , qn]T (5.13)V tr ca vt rn Bi c xc nh bi v tr ca im nh v Ci v ma trn csin ch hng Ai ca n.rci = rci(q,t) ; Ai = Ai(q,t) (5.14) n gin, sau y ta ch xt h hlnm gi v dng. Khi ta s c:rci = rci(q) ; Ai = Ai(q) (5.15) Trng thi vn tc ca vt rn Bi c xc nh bi vn tc khi tm v vn tc gc ca n. ; (5.16)

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Ma trn Jacbi tnh tin v ma trn Jacbi quay nh sau: ; (5.17)Cng thc vn tc khi tm vt rn v vn tc gc ca n c dng: ; (5.18) Nh phn trn ta c biu thc ng nng ca khu th i nh sau:

Ti = (5.19) Biu thc tng ng nng ca h n khu nh sau:T = (5.20)

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Vi Ii l ma trn tenx qun tnh ca vt rn th i i vi khi tm Ci ca n trong h qui chiu R0. Trong thc t ta c th tnh Ii theo cng thc sau: Ii = AiIi(i)AiT (5.21)Vic tnh biu thc c th c thay bng tnh hay Kt hp gia (5.18) v (5.20), biu thc ng nng ca h c th c tnh theo cng thc sau T = (5.22)Hay: T = (5.23)

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Ta a vo k hiuM(q) = (5.24)Biu thc (5.24) gi l ma trn khi lng suy rng. Khi biu thc ng nng ca h vt rn c dng nh sau: T = (5.25)Th cc biu thc trn vo phng trnh Lagrange loi 2 (i = 1,...,n) (5.26)

Trong : l cc lc c th l cc lc khng th tc dng vo khu th i. l lc suy rng ca cc lc hao tn tc dng vo khu i

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Dng k hiu ma trnM(q) = [mij(q)] ; = [cij( ) ] H phng trnh vi phn chuyn ng c vit li nh sau

M(q) + C + g(q) = (t) (5.27)

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Chng VI: H thng iu khin robotRobot cng nghip1056.1. Khi qut v h thng iu khin robot cng nghipNhim v chnh ca b iu khin robot l chp hnh mnh lnh ca ngi iu khin ra cc quyt nh iu khin c cu chp hnh robot thc hin cc chc nng v nhim v theo yu cu.Ba ch b iu khin chnh ca robot:1. Ch bng tay2. Ch iu khin t ng theo chng trnh lp trnh sn.3. Ch iu khin t ng thng minh.

Robot cng nghip1066.1.1. Ba mc iu khin

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6.1.2 nh ngha mc tiu v qu oRobot cng nghip108

6.1.3. iu khin qu o Mc iu khin th hai:Xc nh v a ra cc tn hiu iu khin cc ngun ng lc cho cc chuyn ng ca robot (momen, lc) li robot theo qu o.

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6.1.4 iu khin dn ngMc iu khin th ba: thng p dng cc lut iu khin gii quyt bi ton iu chnh tn hiu thc thi theo tn hiu mong mun theo cc ch tiu v cht lng tn hiu u ra nh sn.

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Vi iu khin

C rt nhiu loi vi iu khin trn th trng nh 8051, avr, pic... mi loi u c u v nhc im khc nhau dng loi no l do tnh cht ca cng vic v do thi quen lp trnh ca ngi lp trnh mch.

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6.2. Vi iu khin AVRVi iu khin AVR do hng Atmel ( Hoa K ) sn xut c gi thiu ln u nm 1996. 1. Dng Tiny AVR ( nh AT tiny 13, AT tiny 22) 2. Dng AVR ( chn hn AT90S8535, AT90S8515,) 3. Dng Mega ( nh ATmega32, ATmega128,)

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6.2.1. Cu trc bn trong ca Atmega8:

8Kbytes h thng t lp trnh Flash b nh chng trnh. 512Bytes EEPROM 1Kbyte ni SRAM Giao tip SPI ng b. Cc ng dn vo/ra (I/O) lp trnh c. Giao tip I2C. B bin i ADC 10 bit. Cc knh bm xung PWM. Cc ch tit kim nng lng nh sleep, stand by..vv. Mt b nh thi Watchdog.

Robot cng nghip113Robot cng nghip26/09/2012Robot cng nghip113 3 b Timer/Counter 8 bit. 1 b Timer/Counter 16 bit. 1 b so snh analog. B nh EEPROM. Giao tip USART..vv. Hot ng hiu in th 4.5V- 5.5V Dng in tiu th ch 4Mhz, 3V, 25C:+Hot ng : 3.6mA+Ch ch : 1mA+Ch xung : 0.001mARobot cng nghip1146.2.2. Cc chn vi iu khin Atmega8Robot cng nghip115

6.2.3. B nh ca AVRB nh chng trnh:Flash ny c th lp trnh thng qua ghp ni tip SPI bng chng trnh lp trnh b nh non-volatile ring, hoc bng mt chng trnh boot on chip, chy trong AVR core.B nh d liu: Phn 1: Gm 32 t R0 n R31 thanh ghi u c 8 bit,Phn 2: Gm 64 thanh ghi xut nhp.Phn 3: Ram tnh ni (SRAm) l vng khng gian cha cc bin (tm thi hay ton cc) trong lc thc thi chng trnhPhn 4: Cc chp AVR cho php ngi dng s dng thm b nh ngoi cha bin Phn 5: EEPROM l b nh Rom nn khng mt d liu ngay c khi khng c ngun rt thch hp dng lu tr d liu.

Robot cng nghip116Robot cng nghip117

6.2.4. S khi cu trc vi iu khin ca AVR

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Robot cng nghip119Phn mm lp trnh Avr:S dng phn mm CodeVisionAVR V2.05.0 lp trnh cho vi iu khin

6.3 iu khin ng c dcservoEncoderMch cu Hiu ch rng xung PWMthut ton Pid

Robot cng nghip1206.3.1 Encoder

Encoder. H thng optical encoder bao gm mt ngun pht quang (thng l hng ngoi infrared), mt cm bin quang v mt a c chia rnh. Optical encoder li c chia thnh 2 loi: Encoder tuyt i (absolute optical encoder) Encoder tng i (incremental optical encoder)

Robot cng nghip121Encoder tng iRobot cng nghip122

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c encoder bng AVRS dng ngt ngoiChng ta ni knh A ca encoder vi 1 ngt ngoi (INT2 chng hn) v knh B vi mt chn no bt k (khng phi chn ngt). C mi ln ngt ngoi xy ra, tc c 1 xung xut hin trn knh A th trnh phc v ngt ngoi t ng c gi.Trong trnh phc v ngt ny chng ta kim tra mc ca knh B, ty theo mc ca knh B chng ta s tng bin m xung ln 1 hoc gim i 1. Robot cng nghip1246.3.2. Mch cu HRobot cng nghip125

Nguyn l hot ng ca mch cu HRobot cng nghip126

Mch cu H dng roleRobot cng nghip127

. Cu to v hnh dng r le.

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Mch cu H dng BJTRobot cng nghip129

Mch cu H dng MOSFET

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MOSFETRobot cng nghip131

6.3.3. iu ch rng xung PWM

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Motor v switch.

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M hnh iu khin tc ng c bng PWM n ginRobot cng nghip134

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6.3.4. Gii thut iu khin PID

V d iu khin xe trn 1 ng thng

Ban u xe v tr A, nhim v t ra l iu khin lc F (mt cch t ng) y xe n ng v tr O vi cc yu cu: chnh xc (accurate), nhanh (fast response), n nh (small overshot).

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B iu khin PID lin tcF=Kp*e + Kd*(de/dt)+Ki*edt

- Chn Kp trc: th b iu khin P vi i tng tht (hoc m phng), iu chnh Kp sao cho thi gian p ng nhanh, chp nhn overshot nh.- Thm thnh phn D loi overshot, tng Kd t t, th nghim v chn gi tr thch hp. Steady state error c th s xut hin.- Thm thnh phn I gim steady state error. Nn tng Ki t b n ln gim steady state error ng thi khng cho overshot xut hin tr li.

Robot cng nghip137B iu khin PID sTrc ht, thnh phn P tng i n gin v l quan h tuyn tnh Kp*e. V thi gian ly mu cho cc b iu khin thng rt b nn c th xp x o hm bng s thay i ca e trong 2 ln ly mu lin tip:de/dt =(e(k) e(k-1))/h.

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Xp x tch phn ca bin sai s e

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Cng thc ca b iu khin PID s Robot cng nghip140

Chng 7: Thit K Robot Robot cng nghip1417.1 Gii thiu Bi v robot l sn phm phc tp bo gm cc phn t c kh, in, in t v iu khin ... do vy bi ton thit k robot kh phc tp v i hi tri thc khoa hc lin nghnh.

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Robot l sn phm tch hp a dng, do vy nhn s thit k thng c t chc theo nhm.Nhm thit k bao gm cc chuyn gia a nghnh.

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Thit k robot cng nh thit k c kh thng thng l qu trnh lp gii php tt dn

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Robot l sn phm c trng nht ca C in t. to sn phm robot phi da trn nhiu cng ngh, kt hp an xen.

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7.2. Cu trc tng th ca robotRobot cng nghip146

7.2.1 Thit k tng v robot Robot cng nghip147

7.2.2. Thit k v ti u kt cu robot Robot cng nghip148

7.2.3. Thit k chi tit robotRobot cng nghip149

7.3. nh gi thit k -nh gi thit k ng vai tr quan trng trong qu trnh thit k sn phm. Phng php c dng ph bin: ma trn QFD(Quality Functional Deplayment)-QFD l mt phng php pht trin cht lng thit k nhm tho mn khch hng, v hn th l a ton b cc nhu cu ca khch hng vo thit k sn phm.

Robot cng nghip150Thc hin phn tch QFD nhm ba mc tiu sau: Xem xt, sp xp theo mc u tin cc yu cu, mong mun ca khch hng. Chuyn ton b cc yu cu, mong mun trn vo cc c trng, m t k thut, ch tiu k thut, yu cu thit k cc cm, khi, chi tit.Ch to v phn phi sn phm, dch v cht lng, tho mn khch hng.

Robot cng nghip151Ma trn QFDRobot cng nghip152

Quy trnh thc hin phn tch QFDBc 1: Xc nh cc yu cu v sn phm (nh gi t pha ngi s dng, t pha n hng).Bc 2: Chun ha cc yu cu.Bc 3: Ngi s dng nh gi trng s ca cc yu cu (wi)Bc 4: Ngi s dng nh gi cc sn phm cng loi (cnh tranh)Bc 5: Ch tiu k thutBc 6: Xc nh hng nng cp ch tiu k thutBc 7: Xy dng ma trn quan hBc 8: Mc kh khn khi thay i cc ch tiu k thutBc 9: Phn tch cc ch tiu k thutBc 10: Mc tiu c th ca cc ch tiu k thutBc 11: Ma trn quan h gia cc ch tiu k thutBc 12: Mc quan trng ca cc ch tiu k thut

Robot cng nghip1537.3. Cc vn thit k robot v mt ng hc

Bc t do ca robotVng lm vic ca robotKh nng ti trngTc Lp li v chnh xc

Robot cng nghip1547.3.1 Xc nh s bc t do ca h nhiu vt

Trong :f-s bc t do ca c cu tay my. s bc t do ca khng gian trong tay my thc hin chuyn ngn-s khu ng ca tay myk-s khp ca ta myfi-s bc t do cho php ca khp ifc-s rng buc trngfp-s bc t do tha

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7.3.2. Vng lm vic ca robot

Vng lm vic ca robot l khong khng gian m robot c th thc hin thao tc.

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Phn bit vng lm vic c th vi ti l khong khng gian m im tc ng cui c th vi ti v khu thao tc c th t c t nht mt t th tha mn v hng

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Vng lm vic kho lo l khong khng gian m im tc ng cui c th vi ti theo cc hng khc nhau ph hp vi yu cu thao tc khi mi trng c th c cn

Robot cng nghip158Gc thao tc (gc phc v) l gc khng gian to bi trc khu thao tc khi khu thao tc quay quanh im tc ng cui ph hp vi cu trc ng hc cho php ca robot k hiu H s gc thao tc (h s phc v) L h thc gia gc thao tc v 4k =/4

Robot cng nghip1597.3.3 Kh nng ti trngKh nng ti trng ph thuc vo:-Kch thc ca robot-cu trc ca c cu chp hnh-Cu trc h dn ng-ng c dn ng-Ch lm vic

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7.3.4 Tc robot

ph thuc vo:-tc ng c-h s gim tc-iu kin lm vic ca robot

Robot cng nghip1617.2.5 chnh xc v kh nng lp li

- chnh xc c kh -Thut ton iu khin ng c, tc tnh ton v kh nng truyn thng ca mch iu khin- chnh xc vic gii bi ton ng hc, ng lc hc v iu khin

Robot cng nghip1627.4. Thit k h thng dn ng robot

7.4.1. B truyn bnh rng:B truyn bnh rng thc hin truyn chuyn ng gia hai trc vi t s truyn xc nh nh s n khp ca rng trn bnh rng.C th truyn chuyn ng gia hai trc song song, ct nhau, cho nhau

Robot cng nghip163B truyn bnh rng hnh tinhCc bnh rng trong b truyn bnh rng hnh tinh c 3 loi: bnh rng bao, bnh rng hnh tinh v bnh rng mt tri v cn dn. Cn dn ni vi trc trung tm ca mi bnh rng hnh tinh v lm cho cc bnh rng hnh tinh xoay chung quanh.

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7.4.2. B truyn bnh rng trc vtKhi nim: truyn ng trc vt dng truyn chuyn ng gia hai trc cho nhau. Thng l gc 900, trc dn ng thng l trc vt

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7.4.3. B truyn bnh rng thanh rngB truyn bnh rng thc hin chuyn ng gia hai trc vi t s truyn xc nh nh vo s n khp ca cc rng trn bnh rngC th truyn chuyn ng gia hai trc song song, ct nhau, cho nhau, hay bin i chuyn ng quay thnh chuyn ng tnh tin hoc t chuyn ng tnh tin thnh chuyn ng quay.

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7.4.4. B truyn ai

B truyn ai thng dng truyn chuyn ng gia hai trc song song v quay cng chiu, cc trc song song quay ngc chiu- truyn ng ai cho, hoc truyn gia hai trc cho nhau-truyn ng ai na cho

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7.4.5. B truyn xch:

B truyn xch thng dng truyn chuyn ng gia hai trc song song vi nhau v cch xa nhau hoc truyn chuyn ng t mt trc dn n nhiu trc b dn

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7.5. Tnh chn cng sut ng cM hnh ha s c cu da trn m hnh vt l. Phn tch v xc nh r yu cu lm vic ca c cuTnh ton cc lc tc dng (ti), lc ma st, m men qun tnh ca h.Tnh ton mmen ti thiu do ng c sinh ra thc hin c yu cu lm vic k trn.Da vo ng c tnh m men - vn tc gc ca tng loi ng c chn ng c ph hp.

Robot cng nghip170Cc bc tnh ton c th nh sau:Tnh ton m men do ma st gy ra: T m hnh c h xc nh mmen qun tnh tng ng ca h

Vi l momen qun tnh ca khu th iTnh gn ng gia tc gc h t ng yn sang trng thi chuyn ng theo yu cu:

Tnh c m men do qun tnh gy ra, tc dng ln trc ng c, cn tr chuyn ng ca trc ng c:

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Tnh mmen ti tc dng ln trc ng c TL.Tng mmen tnh ton:

m bo an ton ngi ta a vo h s Ks , chn trong khong 1,5 n 2, v mmen ca ng c phi ti thiu l:

T gi tr TM tnh c, cn c vo ng c tnh mmen - vn tc gc ca cc ng c, ta c th chn c ng c ph hp.

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