ROBOT Cng nghip

76

Chng VI

M phng robot trn my tnh (Robot Simulation)

(Phn thc hnh trn my tnh) 6.1. K thut m phng robot : M phng l mt k thut hin i, c p dng trong nhiu lnh vc nghin cu v sn xut. Khi nghin cu v iu khin robot, ta c th thc hin iu khin trc tip robot hoc iu khin m phng. iu khin m phng l dng cc m hnh tnh ton ng hc v ng lc hc ca robot kt hp vi cc phng php ho trn my vi tnh m t v kt cu v hot ng ca cnh tay robot. Nghin cu v m phng hot ng ca robot trn my tnh gip cho cc nh thit k nhanh chng la chn c phng n hnh - ng hc ca robot, c th kim tra kh nng hot ng ca robot trn mn hnh, kim tra s phi hp ca robot vi cc thit b khc trong dy chuyn. iu ny rt c ngha trong qu trnh thit k ch to robot mi hoc b tr dy chuyn sn xut. Qua m phng ngi thit k c th nh gi tng i y kh nng lm vic ca phng n thit k m khng cn ch th. N cng c xem l phng tin i thoi, hiu chnh thit k theo yu cu a dng ca ngi s dng. Phng php lp trnh m phng cng gip ngi thit k chn c qu o cng ngh hp l ca robot trong qu trnh lm vic vi mt i tng c th hay phi hp vi cc thit b khc trong mt cng on sn xut c t ng ho. Hin nay c nhiu phn mm cng nghip v cc phn mm nghin cu khc nhau m phng robot, phm vi ng dng v gi thnh ca chng cng khc nhau. y chng ta nghin cu phng php m phng robot dng phn mm EASY-ROB. 6.2. Gi thiu phn mm EASY-ROB : EASY-ROB l cng c m phng robot s dng ho trong khng gian 3 chiu (3D) v cc hnh nh c th hot ng c. Mt h thng 3D-CAD n gin cho php to ra cc khi hnh hc c bn nh khi tr, khi cu, khi ch nht, khi tam gic ... v kt cu ca robot. Trong EASY-ROB chng ta c th dng chut quay hoc tnh tin robot n mt to tu . EASY-ROB cng c cc chc nng phng to, thu nh i tng v nh nhiu phn mm thit k khc... Chng trnh cho php thit k cc robot n 12 bc t do. Chuyn ng ca Robot c th c iu khin theo cc bin khp hoc cc to -ct. Chng ta cng c th m t ng hc ca robot theo kiu DH hoc trong h to ton cc (Universal

TS. Phm ng Phc

ROBOT Cng nghip

77

Coordinates). Easy-Rob c sn cc trnh iu khin ng hc thun v ngc ca cc cu hnh robot thng dng, khi thit k ta ch cn khai bo kiu ng hc thch hp. Trong trng hp robot c kt cu c bit hoc c cc khu b ng gn vi cc chuyn ng ca cc khp th cn phi gii bi ton ng hc ngc hoc xc nh hm ton hc m t s ph thuc ca khu b ng i vi khp quay, vit chng trnh xc nh s ph thuc bng ngn ng C v sau dng tp tin MAKE.EXE trong C dch thnh tp tin th vin lin kt ng er_kin.dll (EasyRob kinematic Dynamic link library), khi chy chng trnh, EASY-ROB s lin kt vi tp tin ny v thc hin kiu ng hc c khai bo trong chng trnh iu khin. Easy-ROB c mt s cc lnh iu khin ring, Chng trnh c vit theo kiu x l tun t, tp tin dng Text, c th son tho chng trnh trong bt k trnh son tho no. Cc cng c gn trn khu chp hnh cui c th thay i c. Chng ta c th vit mt chng trnh chuyn ng cho mt robot theo mt qu o mong mun, c th kim tra kh nng vn ti ca cnh tay, xc nh vng lm vic ca robot . . . Robot m phng c th cm nm hoc th cc i tng lm vic. Cc chuyn ng ca robot c th ghi vo mt tp tin v c th thc hin li. Phn mm cho php ta xem c cc h to gn trn cc khu ca robot, xem c qu o chuyn ng ca im cui cng c gn trn khu chp hnh cui. Phn mm cn c nhiu tin ch khc nh : cho php ta lp trnh iu khin robot bng phng php dy hc, thit k cc i tng lm vic ca robot, c cc ca s v to v gi tr gc quay ca cc khp ti tng thi im khi robot hot ng... Vic s dng phn mm EASY-ROB m phng robot gip chng ta hai kh nng nghin cu : a/ M phng li mt robot c v cc i tng lm vic ca n. nh gi kh nng lm vic v mc linh hot ca robot, xc nh cc thng s iu khin, qu o chuyn ng dng trong iu khin thc. b/ Nghin cu thit k ng hc, cc kch thc v kt cu ca robot trn my tnh c th chn c phng n ng hc tt nht, m bo cho robot hon thnh cc nhim v yu cu. 6.3. Tm hiu mn hnh EASYROB : a- Menu chnh : Menu chnh ca phn mm EASY-ROB cung cp cc ni dung hot ng khc nhau ca phn mm. Bc u lm quen, ta cn quan tm cc Menu sau : Menu FILE : X l cc tc v trn File. Trong Easy-Rob c nhiu loi file c qui nh bi phn m rng (ui ca File), v d : File c dng *.Cel : (Cellfile) m t kt cu Robot, cng c lm vic v i tng lm vic ca robot. y l mt File tng hp, bao gm c chng trnh dng iu khin robot.

TS. Phm ng Phc

ROBOT Cng nghip

78

Thanh cng c

17

Menu chnh

Ca s thit k

Thanh cng c

12

18

Hnh 6.1 : Mn hnh EASY-ROB. File c dng *.Rob : (Robotfile) m t ring kt cu ca mt robot. File c dng *.Bod : (Bodyfile) m t cc i tng lm vic ca robot. . . File .c. .dng *.Tol : (Toolfile) m t cng c gn trn khu chp hnh cui ca robot. File c dng *.Vie : (Viewfile) xc nh gc nhn trong khng gian. File c dng *.igp : (Igrip Partfile) lu tr mt b phn kt cu. File c dng *.Prg : (Programm) Chng trnh iu khin. v.v.... Menu Robotics : Dng nhp cc thng s DH, xc nh v tr ca dng c, xc nh v tr robot v cc thng s khc. Menu 3D-CAD : Cung cp cc cng c v kt cu robot trong khng gian 3 chiu (3D) cng nh thit k cc cng c, cc i tng lm vic. v c kt cu ca robot, da vo cc khi hnh hc n gin ta c th lp ghp chng li to nn cc hnh dng khc nhau ca robot. b- Cc thanh cng c : Cc nt trn thanh cng c dng thc hin cc thao tc nh ca menu chnh (m khng cn vo menu). S dng cc nt trn thanh cng c cho php ta thao tc nhanh hn l phi vo menu chnh. Chc nng ca cc nt chnh trn thanh cng c nh sau : Thanh cng c nm ngang pha trn, tnh t tri sang phi : 1. Bt tt ch chiu sng cc i tng v.

TS. Phm ng Phc

ROBOT Cng nghip

79

2. Chuyn tt c cc i tng sang dng li. 3. Chuyn i tng dng tr / khi phc tp. 5. Th hin/khng th hin sn. 6. Th hin sn dng li. 7. Reset v tr robot trn mn hnh. 8. Chuyn i ca s khi m Cellfile hoc igip partfile (kt hp vi nt 7). 9. Chy chng trnh. 10. Tm dng chng trnh. 11. Tip tc chy chng trnh. 12. Kt thc chng trnh. 13. Chy chng trnh theo tng bc. 14. Lp li chng trnh sau khi kt thc. 15. 16. Gim v tng tc iu khin. 17. nh gi sai s v xem cc gi tr ng hc. Thanh cng c nm ngang pha di, tnh t tri sang phi : 1. Thy hoc khng thy kt cu robot. 2. Thy hoc khng thy dng c. 3. Thy hoc khng thy cc i tng lm vic. 4. Th hin/khng th hin h to gn vi dng c . 5. Th hin/khng th hin h to gn trn cc khu ca robot. 6. Th hin v tr iu khin. 7. M phng ng lc hc. 8. Th hin qu o chuyn ng. 9. S dng cc gii hn ca khp. 10. Son tho chng trnh v dy hc. 12. Th hin hoc khng th hin H to gn trn i tng hin thi. 13. Chuyn n i tng tip theo (khi thit k). 14. Xc nh v tr tuyt i ca i tng hin ti. 15. Xc nh v tr tng i ca i tng hin ti. 16. Reset v tr ca i tng hin ti. 17. Ghi li v tr ca i tng sau khi iu chnh. 18. a robot v v tr dng (Home position). 19. iu khin robot theo khp quay. Thanh cng c thng ng (Thao tc bng chut) , tnh t trn xung : 1. Dng chut view, zoom v Pan. 2.3. iu khin hng ca khu chp hnh cui bng chut. 4. iu khin cc khp 1,2,3 (Dng cc phm chut). 5. Di chuyn thn robot. (h to c s) 6. Di chuyn cc i tng (body) bng chut. 7. Di chuyn tt c cc i tng bng chut. 9. Chuyn i chuyn ng l quay hoc tnh tin (Dng khi hiu chnh i tng v). 11.12. Tng gim tc iu khin bng chut. 6.4. Thao tc chut : Easy-Rob cho php dng chut vi nhiu chc nng nh :

TS. Phm ng Phc

ROBOT Cng nghip

80

Khi nt lnh s 1 ca thanh cng c thng ng c chn : zoom (Phng to, thu nh) : n nt chut phi, r chut ln xung theo phng thng ng ca mn hnh. Pan (thay i v tr ca i tng so vi khung mn hnh) : n ng thi hai nt chut phi v tri, r chut trn mn hnh. Rotate (quay robot nhn cc gc khc nhau) : n chut tri, r chut. Khi nt lnh s 4 ca thanh cng c thng ng c chn : Quay khp 1: n nt chut phi, r chut (nu l khp tnh tin s lm khu chuyn ng tnh tin). Quay khp 2: n ng thi 2 nt chut phi v tri, r chut. Quay khp 3: n nt chut tri, r chut. 6.5. Gn h to : Mun xc nh h to ca robot trc ht phi thc hin bng tay cc cng vic sau: V s ng robot v tr dng, gn h to ca cc khu ln hnh v trn giy, xc nh cc thng s DH. Cc bc tip theo : 1- Bt nt lnh s 5 trn menu ngang, di. 2- Vo menu chnh : FILE -> LOAD -> ROBOTFILE chn DHTempl -> OPEN. 3- Vo menu chnh : ROBOTICS -> ROBOTMOTION + KINEMATICS -> KINEMATICS DATA. 4- Chn Active Join -> Ok -> Activ Joint (1) RZ (hoc chn TZ nu l khp tnh tin) -> Ok -> Nhp cc thng s DH ca khu th nht. 5- Chn Quit -> Ok. Vo li bc 4 -> Number Active Joint(1) -> Ok -> n p chut vo vt xanh hoc a con tr vo phn nhp d liu (text box) n 2 (By gi s khu ng l 2), nhp cc thng s DH cho khu s 2 ... Lm tng t cho n khi s khp yu cu. Ta c th kim tra cc s liu nhp bng cch kch chut vo menu : ROBOTICS -> ROBOTMOTION + KINEMATICS -> KINEMATICS DATA-> KINEMATIC INFOMATION xem li s khu, khp v cc thng s DH. Nu vo d liu sai ta c th hiu chnh li. th hin h to ca robot trn mn hnh (H to mu vng), nh kch chut vo nt s 5 ca thanh cng c nm ngang pha di.

TS. Phm ng Phc

ROBOT Cng nghip

81

6.6. V hnh dng robot : Sau khi hon thnh vic gn h to ca robot, bc tip theo l v hnh dng ca n. Hnh dng ca robot c th c m phng ging nh robot thc nh cng c 3D CAD ca EasyRob. Menu 3D-CAD cho php to ra cc khi hnh hc c bn nh khi tr, khi cu, khi ch nht, khi tam gic ... S phi hp hp l v kch thc v v tr ca cc khi hnh hc ny cho php th hin c cc kt cu khc nhau ca robot. Cc menu ko xung ca Menu 3DCAD nh hnh 6.2, mt s cc chc nng chnh nh sau : + Select group : Chn nhm i tng thit k : 1/Robot group, 2/Tool group hay 3/ Body group. + Select body from group : Chn cc b phn ca robot v (theo tn t trc) ca nhm chn hin hnh. + Create/Import new 3D body : To mi hoc nhp mt b phn c sn. Cn nhp cc thng s cn thit to ra i tng mong mun. + Modify sel. Body_set Jnt_idx : Hiu chnh cc thuc tnh ca b phn hin hnh. + Clone : Copy b phn ang v thnh nhiu hnh. Hnh 6.2 : Menu 3D-CAD + Render : Biu hin i tng dng li, dng hp, . . . + Color : Thay i mu sc. + Name : Thay i tn b phn ang v. + Clear : Xo i tng (b phn) hin hnh. + Position's : Thay i v tr ca i tng (b phn) hin hnh. + 3D CAD Coorsys Visibility : Cho hin hoc n h ta ca i tng v. + Next Body in group : Chn i tng v tip theo. Dng menu 3D CAD ta ln lt v tt c cc khu ca robot, c th dng cc mu sc khc nhau th hin hnh dng ca robot. Lu trong qu trnh v, nu v sai phi dng mc CLEAR xa i hoc dng mc MODIFY CEL hiu chnh. Mi i tng v phi gn vi mt khu nht nh, c khai bo trong mc SET JOINT INDEX. C th dng thanh cng c thng ng pha phi thay i v tr ca cc i tng v cho thch hp.

TS. Phm ng Phc

ROBOT Cng nghip

82

6.7. Lp trnh iu khin robot m phng : lp trnh iu khin robot m phng ta dng phng php lp trnh kiu dy hc. Sau khi thit k hnh dng robot, cng c gn trn khu chp hnh cui, cc i tng lm vic khc . . . ta c th lp trnh iu khin robot m phng. Vic lp trnh thc hin theo trnh t sau y : Nhp chut vo nt lnh s 10 (Show program window) kch hot ca s lp trnh nh hnh 6.3 :

Hnh 6.3 : Ca s lp trnh. Chn New t tn cho File chng trnh. Chn Append nu mun b sung mt chng trnh c trn a. Xc nh v tr cc im m dng c phi i qua (dng chut iu khin cc khp, dng menu ng). C sau mi ln xc nh c mt v tr th n nt PTP (iu khin im) hoc LIN (iu khin ng) hoc VIA (dim trung gian dn hng khi iu khin ng cong), CIRC (iu khin theo ng cong). Lm lin tc cho tt c cc im c mt chng trnh hon thin. Sau khi kt thc vic dy robot hc, n nt Close trn Program Window kt thc. hiu chnh v b sung cc lnh iu khin khc vo chng trnh, n chut vo nt EDIT, Dng cc lnh ca EasyRob nh di y hon thin chng trnh. ERPL - EASY-ROB-Program Language Ghi ch : - n v chiu di l Mt [m], Gc l [deg] hoc [%] - n v ca tc l [m/s] - V tr v hng ca h ta gn trn khu chp hnh cui c xc nh gm : X, Y v Z : ch ta v tr, A, B v C ch gc hng. Hng ca khu chp hnh cui xc nh theo cc gc ABC l: Rot (A,B,C) = Rot(X,A) * Rot(Y,B) * Rot(Z,C) Cu trc chung ca chng trnh, M t c php mt s lnh hay dng : PROGRAMFILE : Bt u chng trnh

TS. Phm ng Phc

ROBOT Cng nghip

83

ENDPROGRAMFILE or END : Kt thc chng trnh. CALL fct_name : Gi mt hm c tn fct_name(), c nh ngha trong chng trnh. CALL FILE filename : Gi mt File chng trnh c tn filename, File phi c cung cu trc nh chng trnh chnh. FCT fct_name() : Bt u nh ngha mt hm c tn fct_name(). ENDFCT : Kt thc nh ngha mt function. ! Cc ghi ch trong chng trnh. TOOL X Y Z A B C [m,deg] : nh ta im cui ca dng so so vi khu chp hnh cui. PTP X Y Z A B C [m,deg] : Di chuyn robot n im mi (ta tuyt i). iu khin im. PTP_REL dX dY dZ dA dB dC [m,deg] : Di chuyn robot n im mi (ta tng i). iu khin im. LIN X Y Z A B C [m,deg] : Di chuyn robot n im mi (ta tuyt i). iu khin ng. LIN_REL dX dY dZ dA dB dC [m,deg] : Di chuyn robot n im mi (ta tng i). iu khin ng. CIRC X Y Z A B C [X2 Y2 Z2] [m,deg] : Di chuyn robot n im mi (ta tuyt i). iu khin ng cong. [X2 Y2 Z2] - im trung gian (3 im xc nh mt cung trn). CIRC_REL dX dY dZ dA dB dC [dX2 dY2 dZ2] [m,deg] : Di chuyn robot n im mi (ta tng i). iu khin ng cong. WAIT x [sec] : Robot dng hot ng trong x giy. ERC TRACK ON,OFF : Th hin hoc khng th hin qu o chuyn ng. ERC LOAD TOOL filename : Gi mt Tool file (*.tol) ERC LOAD VIEW filename : Gi mt View file (*.vie) ERC LOAD ROBOT filename Loads a Robot file (*.rob) ERC LOAD BODY filename Loads a Body file (*.bod) ERC LOAD TAGS filename Loads a Tag file (*.tag) ERC GRAB BODY bodyname : Dng c cm ly mt vt th (body) c tn Bodyname. ERC GRAB BODY_GRP : Dng c cm ly mt nhm vt th (Body_Grp). ERC RELEASE BODY bodyname : Dng c th (bung) mt vt th (body) c tn Bodyname. ERC RELEASE BODY_GRP Dng c th (bung) mt nhm vt th (Body_Grp). ERC ROBOT_BASE XYZ ABC [m,deg] : Di chuyn gc ta c bn ca robot n v tr mi. v.v... Cn rt nhiu cc lnh khc ca Easy-Rob, c th tham kho trn Website: http ://www. easy-rob.com. =================================================

TS. Phm ng Phc