毕业论文课题相关文献综述
文 献 综 述
一、研究背景
At present, the topic of industrial robots has become a hot topic at home and abroad. According to reports, the industrial robot market in the world is rapidly expanding. Especially in China where industrial upgrading is taking place, the application of industrial robots is rapidly spreading. Therefore, the application technology of industrial robots has become more important.
In view of the above factors, this paper proposes the control and design of the motion trajectory of the six-joint industrial robot based on ABB. There are two main tasks in this project: First, use ABB's IRB4600 industrial robot to control and implement the trajectory movement of several common and commonly used graphics. The second is to use ABB's other robot, the IRB1410, as a workstation close to the glass gluing track used for manufacturing field applications. Based on its function, an established trajectory is generated by programming the RAPID program with its own dedicated teach pendant and controller.And through ABB's Robo Studio software to achieve offline programming and simulation.
Finally, through the simulation and experimental results, this paper has a certain role in guiding the relevant applications of the robot.
Keywords: industrial robot; ABB; trajectory realization; system simulation etc.
二、本课题的研究意义
Based on ABB's two commonly used industrial robots, the trajectory control and design are realized by using Robot Studio, a special software platform for ABB's robots. A workstation for gluing trajectory is designed and simulated. Under the simulation environment[1], the robot can open the internal data connection and network docking to realize the intelligent simulation engineering operation[2].This kind of robot simulation can be widely used in the project, can provide more convenient and quick operable technology and steps for the project, has great foresight, can ensure the efficient and quick completion of the project in real operation, and can guarantee the quality of the project requirements[3]. In the market background of industrial robots are still expensive, blind installation may lead to waste of human and material resources. With the development of computer intelligent equipment, computer virtual simulation technology is becoming more and more mature. The specific way is to use ABB special control system and programming language to realize the control and implementation of a U-shaped groove and circular trajectory and some commonly used irregular trajectories[4]. The trajectory needs to be as accurate, fast and beautiful as possible. Among them, the trajectory of glass gluing may meet the requirement of one to one reduction production site. Finally, the debugging process of the whole design and the final running demonstration is carried out on the computer using Robot Studio software platform.
三、国内外研究现状综述
With the rise of labor costs and the improvement of product quality requirements in manufacturing industry, the deep integration of industrialization and in formalization is inevitable, and the demand for industrial robots is also growing. However, at present, although domestic institutions and companies attach great importance to and make great progress in the research of industrial robots[5], such as Xinsong, Eston, etc., although they have their own advantages in robot controller and user interface, there is no big gap compared with foreign companies, but there is a big gap in the main core technology and accessories of robots, such as reducer, high-performance servo[6]. Electrical machinery, although domestic companies do, but its accuracy and durability indicators are still catching up with several foreign companies. Especially ABB in Switzerland, KUKA in Germany, Kawasaki Heavy Industry in Japan[7], Ankawa Electric Machinery and Fanaco. Blustein Daniel and his collaborators design and implement neural system simulation on LEGO robot[8].On other side in china Lu huaigu and his collaborators designed a 3D simulation system of robot virtual reality for the application of remote display and online operation trajectory planning of distribution line maintenance robot[9]. The simulation design of robot flexible manufacturing line based on RobotStudiois carried out in Luye[10]. Taking the industrial robot flexible manufacturing line as the research object, the simulation modeling scheme of the production line by RobotStudiosoftware is introduced[11]. Daley designed and developed the off-line programming and simulation system of six axis industrial robot Under the development environment of QT OpenGL, using the development idea of software engineering and modular design concept[12], the robot kinematics module, three-dimensional modeling module[13], animation simulation module and robot instruction interpretation module are completed .Goncalves, R.S. and Carvalho[14], j.c.m perform graphic simulation for a mobile robot suspended on a transmission line using multi-body system software. In this work, the kinematics model of mobile robot[15], obstacle transposition method, graphic simulation and experimental results are proposed to verify the proposed method. The research on trajectory control of industrial robots varies from company to company in different ways[16]. Most of them are controlled by their special programming language[17]. The programming language varies from company to company, but it is similar in general. In addition, there are other control modes such as MCU, PLC or motion control card[18].
