NGHIN CU XY DNG QU O CNG NGH CHO ROBOT HN

Research on Building of Technological Trajectory for Welding Robots Trn nh Trng(*) - L Hoi Quc(**)
(*) KS C ien t PFIEV (**) Bo mon KTKT Khoa C kh HBK HQG HCM Tm tt: Qu o thc ca m hn trong qu trnh lm vic ca robot hn phi tha mn yu cu cng ngh t ra ca tng mi hn v khng hon ton c lp trnh bng teach pendant m phi c xy dng da trn qu o ly mu t qu trnh dy cho robot v yu cu cng ngh i vi mi hn th hin kiu (patterns) chuyn ng ca m hn. Bi bo ny gii thiu cc nghin cu tin hnh xy dng qu o cng ngh cho robot hn v kt qu thc nghim t c. Abstract: This papers introduces one proposed solution for building of technological trajectory applying on welding robots

1. S LC V ROBOT HN Cng ngh hn t ng vi robot c ng dng t lu trong ngnh cng nghip sn xut -t cc nc cng nghip pht trin, tiu biu trong s nh Hoa K, Nht Bn, CHLB c, Php, , Hn Quc, Trung Quc, v gn y l cc nc trong khu vc ng Nam . Sau , cng ngh hn t ng vi robot c p dng trong cc ngnh ng tu bin, ch to my. Trong cc nh my sn xut xe hi th hn im l cng vic s dng robot nhiu nht: mi khung xe c c nh vo mt palette v c iu khin di chuyn khp nh my. Khi khung xe n trm hn, b phn kp s c nh cc chi tit ng vo v tr cn thit, trong khi robot di chuyn dc theo cc im hn c lp trnh trc (hnh 1.1, fanucrobotics.com).

mt mi hn lin quan n cc thao tc ca u m hn vi mi trng khc nghit do khi v nhit pht ra trong qu trnh hn. Hnh 1.2: H thng robot hn ng ca hng FANUC

Hnh 1.1: Robot hn im trong nh my sn xut xe hi

Robot cng c ng dng nhiu trong cng ngh hn theo vt hoc hn theo ng dn lin tc cn gi l hn ng. Hn ng thng c thc hin bng tay. Tuy nhin, nng sut thp do yu cu cht lng b

Khng ging k thut hn im, mi hn c v tr c nh, mi hn trong k thut hn ng nm dc theo mi ghp gia hai tm kim loi. Nhng h thng hn ng thc t (hnh 1.2) ph thuc vo con ngi trong vic kp cht chnh xc chi tit c hn v sau robot di chuyn dc theo qu o c lp trnh trc. u im so vi hn bng tay l cht lng mi hn uc n nh. Ngi vn hnh ch thc hin cng vic l kp cht cc chi tit v ly sn phm sau khi hn xong. C th thc hin tng nng sut bng cch trang b bn nh v quay nh ngi vn hnh c th kp cht mt chi tit trong khi thc hin vic hn chi tit khc. Tuy nhin, lun c vn kh khn trong vic lp kht chi tit do dung sai trong ch to, chi tit b cong vnh, v cc thit k cn lp ghp theo ng cong khng ng dng. Cc vn lm cho vic kp cht chi tit kh khn, c bit l i vi cc chi tit ln v lp tm kim loi mng. Hn na, ng hn c th khng x l c vi m hn khi n b che khut bi chi tit khc. Th hn tay phi x l kh khn nhiu loi mi ni v v tr

cc chi tit khc nhau. Gn y cc nghin cu tp trung vo phng php d vt ng hn vi mc ch gim bt yu cu nh v chnh xc, v do gim chi ph hn trong khi cht lng mi hn li tng. Cm bin trang b trn cc robot hn ng phi c kh nng xc nh v tr ng ca ng hn. Nh vy, mi hn c t chnh xc, ng yu cu v hnh dng v kch thc th robot phi gi in cc theo hng ng ca ng hn vi khong cch ng t ng hn n u m hn v di chuyn vi tc khng i sao cho lng vt liu chy vo mi ni khng i. Xc nh ng hn cho cc vt th ba chiu phc tp hn so vi cc tm phng v thng cn phi m hnh ha hnh hc nh ra ng di chuyn ca robot. Hnh 1.2 trnh by mt robot c trang b cm bin laser d ng i ca u hn. 1.3 CNG C LP TRNH CHO ROBOT HN TEACH PENDANT Trong thc t, co rt nhiu cng c lp trnh cho robot nh keyboard, teach pendant, simulator... Nhng c bit i vi cc robot hn, ngi ta hu nh s dng Teach pendant nh mt cng c lp trnh hiu qu nht. V thc cht th teach pendant l mt thit b thng c dng hp cm tay (hand_held box) c ni vi robot bng cp in hoc quang, dng iu khin chuyn ng ca m hn trn robot i qua cc v tr ca qu o cn hn dng teach mode hoc dng thc thi cc chng trnh lp trnh sn... Cu to ca teach pendant rt a dng, ty thuc vo tng cng ty sn xut vi mu m v hnh dng ph hp vi robot ca chnh cc cng ty . Nhn chung th tt c cc teach Pendant u phi c hai b phn chnh l mn hnh LCD hin th cc thng s v cc nt nhp, iu chnh cc d liu hoc thc hin cc thao tc...

Hnh 1.3: Teach pendant ca hai cng ty Kawasaki v Panasonic - Nht Bn 1.4 NHN XT MI QUAN H GIA QU O LY MU V QU O CNG NGH Nh trnh by trn, hn l mt phng php cng ngh dng ghp ni hai hay nhiu phn t vi nhau. Ch giao nhau gia cc phn t ny ngi ta gi l mi hn m vn l ng cong tip xc gia hai bin dng ca hai phn t hn, hay cn c gi l qu o hn l thuyt hay qu o ly mu. Trong thc t mi hn c thc hin hiu qu nht, ngi ta s to mt rnh dc theo qu o hn. y l vng m vt liu que hn v kim loi ca cc phn t hn nng chy v cu kt, hnh thnh nn mi hn. Nh vy hn hai phn t ta phi iu khin u m hn i dc theo ng cong qu o rnh hn, tc l ta phi nm bt v qun l cc thng s v ng cong ny. Thng thng, ta s dng cc cng c lp trnh (thng dng nht l Teach Pendant) ly mu im trn qu o hn.

Hnh 1.4: Cc dng qu o di chuyn que/dy hn theo yu cu lin kt khc nhau ca cng ngh hn Trong thc t, vic n thun a que hn hn dc theo rnh hn khng t c hiu qu v cht lng yu cu ca mi hn. Ta phi iu khin que hn i theo mt qu o c bit ng vi tng trng hp yu cu lin kt c th m ta tm gi l qu o cng ngh. Thc cht, qu o cng ngh ny cng c xc nh da trn qu o ly mu nhng kt hp vi nhng hnh dng chuyn ng c bit trn rnh hn m ta s gi l cc pattern. Nh vy, vn t ra l: lm sao thc hin qu o cng ngh trong qu trnh hn m ch cn ly mu bng teach pendant vI cc im nm trn qu o ly mu. c th thc hin c iu

ny, ta phi nghin cu qu o ly mu, x l v xy dng nn rnh hn; ng thi kt hp vi cc dng patterns c th a ra c thng s ca qu o cng ngh cho robot hn.
Qu o ly mu ng mp rnh

lm c s nghin cu v pht trin phng php tng qut cho cc dng cn li.

Hnh 2.1 : ng hn kiu zigzag 2.2 GII PHP XUT 2.2.1 Xem xt mt s gii php c sn Trong thc t, mt s cng ty ln trn th gii ( Nht v c chng hn), th ngi ta iu khin cc trc ca robot sao cho m hn (end effector) di chuyn dc theo qu o l thuyt v dnh ra mt trc (thng l trc Yaw - lc c tay) hoc cho mt khp b sung (khng iu khin ni suy phi hp vi cc trc ca robot) thc hin chuyn ng lc kh hi trong mt bin ph hp vi b rng ca rnh hn yu cu vi vn tc thch hp th s to ra c qu o zigzag gn ng nh mong mun. Nh vy, Robot hn lc ny c xem nh ch c 5 bc t do c lp trnh phi hp v mt bc t do chuyn ng kh hi theo chu k nh sn. Phng php ny ch c th tm thi gii quyt c i vi dng pattern n gin hnh zigzag, nhng i vi cc dng pattern phc tp hn th khng th gii quyt c. Ngoi ra, i vi mt s hnh dng pattern c bit khc, ngi ta c th s dng phng php kt hp dao ng ca hai hay nhiu khu to ra hnh dng ph hp trong khi robot c cho trt trn mt rnh lm vic nh sn. 2.2.2 Gii php kt hp vi Pro/Engineer v Cimatron Mt gii php kh tt c a ra l vic dng cc phn mm tnh ton v m phng mnh nh Pro-Engineer kt hp vi phn mm Cimatron trong vic m phng ng SP-Line, offset chng to ra cc rnh hn v chia chng ra thnh n phn u nhau. Sau ta c th xut ta cc im ny sang mt tp tin dng .DXF m ta c th s dng c d liu ca n trong vic iu khin robot. C th cc bc thc hin nh sau : c cc d liu im vo Pro/Engineer: Chn lnh New. Trong mc Datum point, ta chn point tool v chn offset + pick. Chn kiu ta l Decarte. Chn lnh Read point v chn file l

Qu o cng ngh theo pattern zigzag

Hnh 1.5: Hnh biu din mi tng quan gia qu o ly mu v qu o cng ngh

1.5 MC TIU V NI DUNG NGHIN CU Da trn vn t ra, mc tiu v cc ni dung chnh m chng ti trin khai trong nghin cu gm nhng vn sau: Nghin cu qu o ly mu v xy dng rnh hn. Xy dng qu o cng ngh da trn mt s dng patterns c th. Lp trnh tnh ton qu o cng ngh bng Visual C++. Xy dng phn mm la chn dng pattern, la chn cc thng s ca pattern, m phng minh ha qu o cng ngh v chuyn giao d liu tnh ton cho chng trnh iu khin robot hn. Do khun kh c hn ca bi bo, y chng ti ch trnh by ng hng gii php chnh thc hin trong cc ni dung di y. 2. GII PHP CHO VN NGHIN CU 2.1 LA CHN MT S PATTERN THNG DNG GII QUYT TRONG TI Trong khun kh ca bi bo ny chng ti trnh by qu trnh xy dng qu o cng ngh theo dng pattern hnh zigzag l dng c bn nht

dng .PTS (Dng file PTS thc cht l cc file text c cha n dng d liu v mi dng ln lt l cc ta x, y, z ca im th I, ngn cch nhau bng mt khong trng) Sau khi c cc im vo, Pro-E s hin th cc im ln mn hnh v vic tip theo l m phng ng cong sp-line t nhng im va nhp vo trn. Ta chn lnh Datum curve v chn chc nng Thru points. Sau pick cc im trn theo mt th t hp l v chn Done. Ta c c mt ng sp-line trn i qua tt c cc im nhp vo. Sau cng l xut d liu sang mt dng tp tin m Cimatron c th dng c. Chn mc Save as copy chn kiu tp tin lu l .IGS v chn chc nng Curve and points. Nhn OK hon tt cng vic. Dng Cimatron chuyn file dng .IGS sang dng file ca Cimatron. Vo menu Data Input phn giao din chnh. Chn lnh menu Application v chn mc IGES v chn tip Read. Chn file .IGS lc u v Chn lnh Excute. Khi ng ca s chnh ca Cimatron v nhp vo file name dng .PFM va to ra. Chn kiu Wiframe offset ng cong thnh hai ng khc na. Chn More v pick ng cong. Chn tip Delta (keyi in) v chn Copy, chn Continue. Ta lm hai ln nh vy s c c hai ng cong c offset mt gi tr dx, dy so vi ng cong ban u. Tip theo, ta s chia cc ng cong ny ra thnh nhiu on bng nhau. Chn Point v Multi Point. Nhp v mc Number of interval chnh l s on cn chia. Nhn OK kt thc vic chia. Lm tng t chia ng cong cn li. Sau cng, chn File v Save li thnh file .PFM. Bc cui cng l chuyn dng file .PFM sang dng .DXF. Vo li mc Data Input (D.I.) v chn menu Application vi Option l Write DXF file. Nhn Excute hon tt vic xut file sang dng .DXF. Qua nhng bc lm n gin, ta c c mt file dng DFX cha cc d liu im nm trn hai

ng cong mp ca rnh hn c chia u t c s , ta s cho end effector ca robot chy theo mt th t nht nh cc im to thnh mt qu o hn. Vn cn li l ta phi c cch x l d liu ca tp tin DXF, mt dng file thng dng hay c dng bi phn mm Autocad. 2.2.3 Gii php t xy dng m hnh v cng c ring Phng php ny da trn tng xy dng mt m hnh ton hon chnh qun l cc rnh hn v cc dng patterns. c nh vy, i hi phi c mt s lng thng tin cn thit v qu o l thuyt, thng tin v rnh hn cng nh thng tin v cc patterns chun. Trong thc t, tin cho vic t ng ha trong cc giai on hn hng lot cc mi hn cng loi, ngi ta s thc hin theo mt qu trnh sau: u tin, ngi thao tc s ly mu thng tin v qu o hn l thuyt bng cch dng Teach Pendant (hay dng tay dt robot i di ch lead-bynose hoc dng keyboard) nhp mt b d liu im cn thit ta trn qu o . Sau , ngi thao tc li tip tc nhp vo nhng d liu cn thit v thng s rnh hn, chn dng patternsthng qua giao din iu khin. Tt c nhng thng s ny c a vo chng trnh x l, sau chng trnh s xut ra li mt bng d liu im ca qu o cng ngh. V robot s thc hin tun t theo cc d liu c cung cp mt cch t ng. iu cn ch l, chng trnh ch tnh ton mt ln cho mt loi qu o nht nh vi mt pattern v thng s rnh nht nh, sau cc thng s u ra v qu o cng ngh s c lu li v ti s dng cho cc mi hn cng loi, nh c th t ng ha qu trnh hn. Nh vy, n y ta c th xem xt li tng th v mt bi ton c th t ra : Thng tin u vo : Cho mt b d liu im, c gi l cc Via Points, ta trn qu o l thuyt ca ng hn. B d liu ny c th c cung cp di hai dng: mt l di dng cc gc khp (ta khp ca robot) ti cc Via Points, hoc hai l di dng ta Descartes ca cc Via Points trong h quy chiu gc gn vi gi ca Robot H quy chiu R. Thng s v rnh hn trong mt phng trung trc (mt phng vung gc vi tip tuyn ca

qu o) ti cc Via Points. Thng thng bao gm chiu cao h, chiu rng a v thng s v chiu cao cc lp khc nhau (nu cn thit). Cho dng pattern v cc thng s ca pattern trn mu chun. Thng l cc thng s v s im chia, chiu di mt chu k patterns Cc thng s ca robot hn bao gm cc kch thc ng, thng s v ng c cc khp Ngoi ra, ngi thao tc cn c th a ra yu cu v vn tc u hn v vn tc a que hn Thng tin u ra: M hnh rnh hn. D liu im ca qu o cng ngh biu din di dng gc khp hoc l vn tc di chuyn vi phn thc hin ht qu o yu cu. Thc t cho thy, vic tip nhn v x l cc thng tin u vo rt phc tp v qua nhiu cng on. Do vy tin vic kho st, ta s chia bi ton thnh nhiu bi ton nh gii quyt, sau s tng hp li a ra mt phng php tng th. 3. XY DNG M HNH TON 3.1 THNG S ROBOT HN V BI TON NH HNH NG CONG QU O 3.1.1 Thng s ca Robot hn Mt iu hin nhin khi ta mun iu khin mt robot l trc tin ta phi nm r cc thng s v cu to ca robot . Trong nghin cu ny, ta s xem xt mt robot dng mt tay my (manipulator) c 6 bc t do. Tay my ny gm su khp bn l v cu to nh hnh v.

Nhn xt v tnh cht ca qu o hn l thuyt Nh chng ta bit, hu ht cc mi hn trong thc t u l cc ng cong phng hn cc mp khung xe hi, hn hai ng cho nhau hoc n gin hn na l mt ng thng nh hn cc tm to ng, hn cc cnh khungNgoi ra, trng hp hn dc theo cc ng cong 3D rt t, thng ch gp trong cng nghip hn phn u ca cc con tu ln. c th nghin cu, xy dng cc rnh hn v qua ch ra qu o cng ngh, chng ta phi bit r v qu o hn l thuyt di dng mt ng cong chun, tc l ta phi bit c ta cng nh o hm ca ng cong ti cc im chia. Vy mt kh khn t ra l ta phi tm mt ng cong m phng gn ng qu o hn, vic m phng ny (thc cht l qu trnh ni suy ng cong) c th thc hin d dng i vi ng cong 2D, nhng s rt kh khn i vi ng cong 3D. Trong khun kh ca bi bo ny chng ti trnh by m hnh ton cho cc mi hn thng v mi hn theo ng cong phng (ng cong 2D) v mt vi tng c bn x l ng cong 3D. V cn bn, i vi qu o hn, ta s gp hai loi ng cong phng nh sau: ng cong phng dc: l ng cong phng m ta trn qu o cng ngh khng phi l mt ng cong phng. ng cong phng ngang: l ng cong phng m ta trn qu o cng ngh cng l mt ng cong phng. X l tp Via Points Nh cp trn, vic x l cc Via Points thc cht l i tm mt ng cong gn chun gn ng vi qu o phc v cho vic kho st bc tip theo. Ta ln lt kho st cc dng ng cong qu o. Trng hp qu o (l thuyt ) thng: Qu o dng thng th kh n gin, u vo ch c hai im Via Point. Nhng c mt im c bit l, v l ng thng nn c v s hng xy dng rnh. V vy, bc nhp thng s ta cn phi thm vo mt thng s th hin hng xy dng rnh, l

Hnh 3.1: Lc c cu v hnh nh ca robot hn Panasonic AW 7000 Cc thng s cn thit cho tay my ny bao gm: cc kch thc ng ca cc khu, h ta gc nghin cu, thng s v cc ng c khp, ta ca tool ( y l u cp dy hn) trong h ta nghin cu (c th dng h ta cc b hoc ton cc) 3.1.2 Bi ton nh hnh ng cong qu o l thuyt

vector php tuyn ca rnh H . Trong trng hp khng nhp thng s ny th ta mc nh l rnh c vector php tuyn trng hng vi trc z. y, tin vic qun l v xy dng rnh, ta thit lp mt h ta cc b L (local reference) mi trn ng thng qu o: im gc ta l im OL = V1 (im Via point u tin). Cc vector n v ln lt l:
VV r e xL = 1 n = V1V n

thng hng trong tp hp im Via point l ta c th xc nh c mt phng qu o di dng phng trnh: (P) : AX + BY + CZ + D = 0 Sau , tn dng c tnh cht phng ca qu o ta cng cn thit lp mt h ta cc b L (local reference) gn vi mt phng qu o nh sau: im gc ta l im OL = V1 ( im Via point u tin). Cc vector n v ln lt l:
VV r e xL = 1 n = V 1V n

(X n
v

[X n

X 1 ) + (Y n Y1 ) + (Z n Z 1 )
2 2

X 1 , Y n Y1 , Z n Z 1 , 0 ]

T 2

r e yL

r H = r H

r r r e zL = e xL e yL

[X n
(X n
r n = [A

X 1 , Y n Y1 , Z n Z 1 , 0 ]
2 2

T 2

z
r e yL

Vend r e xL

r r n e zL = r vi n

X 1 ) + (Y n Y1 ) + (Z n Z 1 )
B C 0 ];

r r r e yL = e zL e xL
z

V1
O

r e zL
x
Hnh 3.2 : S biu din h ta L i vi trng hp qu o thng. Ma trn chuyn ta t h ta L v R l:

r ezL
V1

r eyL
r exL Vn
y
P

e xLx e R TL = xLy e xLz 0

e yLx e yLy e yLz 0

e zLx e zLy e zLz 0

V1x V1 y V1z 1

Hnh 3.3 : S biu din h ta L i vi trng hp qu o phng. T ta c ma trn chuyn i t h ta L v h ta gc R l:

Vy, trong h ta L mi xy dng th ng thng qu o trng vi trc x v vector php tuyn th trng vi trc y. Vic ny rt c li cho ta trong vic s dng cc thng s rnh sau ny. Trong h ta cc b L, th ma trn ta cc im Via points s l:

e xLx e R TL = xLy e xLz 0

e yLx e yLy e yLz 0

e zLx e zLy e zLz 0

V1x V1 y V1z 1

V L = R T L 1 V R
Trng hp qu o phng : Trc tin, ta cn xc nh mt phng qu o. Thao tc ny kh n, ch cn chn 3 im khng

Trong h ta cc b L, th ma trn ta cc im Via points s l:

V
L

T L 1 V

n y, ta ch cn kho st qu o trn mt phng lm vic m vn chnh l mt phng Oxy

trong h ta L, v ta ch quan tm n hai thng s x v y v zi =0 vi mi i. xc nh ng cong y = S(x) gn ng vi qu o, y ta s dng phng php ni suy Cubic Spline. Phng php ny s cho ta mt dy cc hm gn ng trn tng on di dng a thc bc 3:

3.3

BI TON CHUYN NG THNG CA END-EFFECTOR

Vn Sau bc xy dng qu o cng ngh, mt vn cng cn phI lu l trong trng hp thc hin mt qu o thng, khng n gian l ta ch cn ly mu cc im u v cuI ca on thng bng Teach Pendant l c d liu iu khin end effector thc hin qu trnh hn theo qu o thng . hiu r hn v bi ton ny, ta xem xt v d sau:

S j (x) = a j + b j (x x j ) + c j (x x j ) + d j (x x j )
2

vi j=1...n. m bo tnh lin tc v trn tru ca ng cong, ngi ta a ra cc iu kin rng buc l: o o o o o

S (x j ) = f (x j )

S j +1 (x j +1 ) = S j (x j +1 ) vi j= 1..n-2.

S j +1 (x j +1 ) = S j (x j +1 ) vi j= 1..n-2.

vi j=1..n.

Hnh 3.4

S (x1 ) = 0 ; S (x n ) = 0 . (iu kin bin t

S j+1 (x j +1 ) = S j (x j +1 ) vi j= 1..n-2.

nhin) Vy, phng php ni suy ny cho ta mt ng cong lin tc v kh vi gn ng vi qu o. Nhng cng vic tip theo bao gm: - X l thng s rnh v dng m hnh rnh hn trong cc trng hp qu o thng v qu o phng - Dng mt phng trung trc v x l thng s rnh - Dng rnh hn Do khun kh c hn s khng trnh by y. 3.2 BI TON XY DNG QU O CNG NGH n y ta c th a ra mt phng php tng qut thit lp qu o cng ngh hn bao gm bn bc sau: Bc 1:Thit lp h ta pattern v chia im trn nn pattern chun . Bc 2:Chia li cc im Via Points da trn ng cong Spline ni suy. Bc 3: Xy dng rnh (thit lp cc Via points cho mp rnh). Bc 4: Chiu cc im chia trn h ta pattern ln h ta rnh.

x
Xt mt tay my hai bc t do nh hnh v 3.4. Bi ton t ra l, lm sao cho u N ca n i t im A sang im B theo mt ung thng. Thao tc u tin ng nhin l ta phi tm v tr gc khp ca tay my ng vi v tr A v B, tc l ta phi gii bi ton ng hc ngc tm (1A,2A) v (1B, 2B). Vy ta s tnh c bin thin gc khp gia hai v tr l 1 v 2 . Hnh 3.4: Lc biu din tay my hai bc t do Trong thc t, ta khng th ch n gin gia tc cho cc khp xoay ng lng gia tng v gp phi hai vn sau: u E ca tay my s khng i theo qu o thng m s theo mt ng cong no . Thc t, ta yu cu cc khp phi cng bt u v kt thc chuyn ng trong mt khong thi gian t, v vy vic iu khin vn tc ca cc khp phi khc nhau v tha mn cng thc:

= t

i vi Robot hn m ta ang lm vic cng xy ra vn tng t nh vy. Chuyn ng ca u

hn i dc theo qu o cng ngh thc cht l qu trnh chuyn ng point-to-point qua cc tnh ton c. V vy vic gii quyt vn i thng ca end effector l rt cn thit. Thc t i vi tay my su khp bn l, vic di chuyn end effector t im ny sang im kia theo mt ng cong no l khng th trnh khi. V vy, ta ch c th iu khin n i t A sang B theo mt qu o gn ng thng, bng cch chia nh on AB v gia tc t t end effector i qua cc im chia. Nh vy, qua nhng chuyn ng vi cp nh th th qu o cong ca End Effector s coi gn ng thng. Qu o thc Qu o gn ng

TI LIU THAM KHO [1] Sabrie Soloman, Sensors Handbook, McGraw-Hill, 1998, USA. [2] Saeed B. Niku, Introduction to Robotics, Analysis, Systems, Application, Prentice Hall, Upper Saddle River, New Jersey, USA. [3] Nguyen ac Tho, So tay cong nghe che tao may, Nha xuat ban Khoa Hoc va Ky Thuat, 2003. [4] Tran c Tuan Tran Ngoc Dan , Cong nghe han ho quang, Nha xuat ban HQG Tp.HCM, 2002. [5] Le Hoai Quoc, Ky thuat ngi may, Tap 1: Robot cong nghiep, Nha xuat ban HQG Tp. HCM, 2003.

Hnh 3.5: Lc biu din qu o ca End Effector. Nh vy, y cn li hai vn phi gii quyt: bi ton ng hc ngc v bi ton vn tc. y l nhng bi ton c bn ca ng hc tay my m ta bit. Vic gii cc bi ton ngc v bi ton vn tc qua nhng im trung gian ca qu o i hi nhiu cng sc nu khng xy dng trc nhng phn mm gii trn MATLAB. C th nhanh chng gii cc bi ton ny trong nhiu trng hp c th khi s dng phng php tch cc nhm 3 khu. Nhng vn ny s trnh by chi tit trong Hi ngh. KT LUN Trong khun kh c hn, bi bo ny cc tc gi ch mi gii thiu qua v nhng tng chnh ca cng vic thc hin, bao gm: - ng hng ca gii php xut. - Xy dng m hnh ton ca qu o ly mu. - Cc bc tin hnh xy dng qu o cng ngh. Nhiu ni dung quan trng ca nghin cu ny, nht l mc 3 cha th trnh by chi tit y. Cc chi tit c lin quan ca bi bo s c trnh by ti HNKH. Bn c quan tm n nhng ni dung chi tit ca bi bo ny xin lin h vi B mn KTKT Khoa C Kh HBK HQG HCM.