缝合机器人自主规划与协调控制系统设计

Autonomous planning and coordinated control system design for stitching robot

为提高复合材料预制件缝合机器人灵活性与加工柔性,应用三维扫描技术对缝合预制件点云数据进行采集,根据接缝特征进行中心线提取并提出一种缝合机器人自主规划算法,完成了机器人位姿矩阵的求解.以自主规划所得机器人位姿矩阵作为缝合工位及缝合姿态,采用西门子PLC设计缝针运动与机器人运动协调控制系统.基于Profibus现场总线通信技术,采用"一主多从"网络控制策略,完成各个设备之间的数据交换,进而达到控制目的.缝合实验结果表明,实际缝合轨迹偏差总体小于1.5 mm,该系统可以满足实际缝合工艺要求.

In order to improve the flexibility and processing of the stitching robot of composites preform,the point cloud data of the fabrication of stitch were collected by 3D scanning technology,and the center line of the seam was extracted according to features and an autonomous planning algorithm of stitching robot was put forward,in turn,the solution of the robot pose matrix was completed.Furthermore,using the robot pose matrix as stitching position and stitching posture,Siemens PLC was used to design stitching motion and robot motion coordination control system.Based on the field bus communication technology of Profibus,the data exchange between each devices is accomplished by using the"one master multiple from"network control strategy and achieved the control purpose.The experimental results show that the actual stitching overall trajectory deviation is less than 1.5 mm,the system can satisfy the requirement of actual stitching process.