Trng HBK tp HCM

Khoa C Kh

B mn C in T

MN HC

NG LC HC
V
IU KHIN ROBOT
Ging vin: TS Phan Tn Tng
Chng trnh cao hc chuyn ngnh C in T

2010
1

ng lc hc v iu khin robot

TS Phan Tn Tng

Tng s

L thuyt

Thc hnh

Tiu lun

60 tit

45

TT
1
2
3
4
5
6

Phng php nh gi
Bi tp ti lp
Chuyn cn
Kim tra gia k
Thc hnh th nghim
Tiu lun, thuyt trnh
Thi cui hc k

S ln Trng s (%)
6
10%
10%
1
30%
1
50%
2

ng lc hc v iu khin robot

TS Phan Tn Tng

Chng trnh
Chng 1: Gii thiu
Chng 2: ng lc hc robot
Chng 3: Hoch nh qu o robot
Chng 4: iu khin robot
Chng 5: Cm bin v th gic robot

ng lc hc v iu khin robot

TS Phan Tn Tng

Ti liu tham kho

[1] John J. Craig, Introduction to robotics
Mechanics and Control, Addison Wesley
Longman, 1989.
[2] J.M. Selig, Introductory Robotics, Prentice
Hall International, 1992.
[3] Phm ng Phc, Robot cng nghip.

ng lc hc v iu khin robot

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Chng 1 : Gii thiu

1.1 Lch s pht trin rbt
1.2 Cc cu trc rbt
1.3 Gii thiu phng php m phng rbt
1.4 Cc php bin i h ta
1.5 ng hc v tr
1.6 ng hc vn tc

ng lc hc v iu khin robot

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1.1 Lch s pht trin

nh ngha: Robot l mt thit b t ng c t c
nh hay di ng, c th lin kt vi nhiu thit b t
ng khc, c th lp trnh c thc hin cc chc
nng, thao tc trong cc qu trnh sn xut.
Lch s : M 1950 Anh 1967 Nht 1968 c 1971
Php 1972 1973 ..

ng lc hc v iu khin robot

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ng lc hc v iu khin robot

TS Phan Tn Tng

ng lc hc v iu khin robot

TS Phan Tn Tng

ng lc hc v iu khin robot

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ng lc hc v iu khin robot

Robot c nh trong dy chuyn sn xut

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ng lc hc v iu khin robot

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1.2 Cc cu trc robot

Robot c cu trc ng hc vng h

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ng lc hc v iu khin robot

Robot c cu trc ng hc vng kn

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ng lc hc v iu khin robot

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Robot dy
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ng lc hc v iu khin robot

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ng lc hc v iu khin robot

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1.3 M phng robot

Mc ch:
+ Kim tra hot ng robot
+ Kho st lut iu khin
Cc phn mm m phng
+ MatLab
+ Phn mm ca ABB
+ Easy Rob
.

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ng lc hc v iu khin robot

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1.4 Php bin i h ta :

Qui tc bn tay phi

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ng lc hc v iu khin robot

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z
x

y
X

X,Y,Z

V tr ca vt th
trong khng gian
xc nh bi 3 gi tr
to X,Y,Z v 3
gc ch phng ,
,

V tr vt th trong khng gian

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ng lc hc v iu khin robot

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Xc nh v tr
pz

To mt im P trong h
to vung gc c biu
th bng vect p c gc vect
ti gc h ta

P
A

k j
x

px

p
py

px

A
p = py

p z
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ng lc hc v iu khin robot

TS Phan Tn Tng

Xc nh hng theo cosin

Z(k)

Cc vect n v u,v,w biu din

trong h A

w
p

v
Y(j)

AB

u x

A
RB = u y
u z

vx
vy
vz

wx

wy
wz

(pu,pv,pw)
X(i)

(px,py,pz)

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ng lc hc v iu khin robot

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Php bin i h ta
Php quay

u x

A
p = uy

u z

wx
r11 r12

B
wy . p = r21 r22

r31 r32
wz

vx
vy
vz

r13

B
A
B
r23 . p = RB p

r33

Php tnh tin

p = q + RB p
A

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ng lc hc v iu khin robot

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Ma trn quay quanh 3 trc to

vx

Trng hp quay quanh trc Z mt gc

cos
A
RB = Rot ( Z , ) = sin

sin
cos
0

0
0

uy

ux

Trng hp quay quanh trc x mt gc X

0
1
A
RB = Rot ( X , ) = 0 cos

0 sin

y(v)

vy

0
sin

cos

Trng hp quay quanh trc Y mt gc

cos 0 sin
A
RB = Rot (Y , ) = 0
1
0

sin 0 cos

x(u)

Tnh cht

R( p, ) = RT ( p, )

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ng lc hc v iu khin robot

TS Phan Tn Tng

Php quay quanh trc bt k

quay quanh trc r bt k gc :
- quay quanh trc Z gc -

- quay quanh trc Y gc -

r
Y

- lc ny trc p trng trc Z nn

quay quanh r chnh l quay
quanh Z gc
- quay tr li quanh trc Y gc

- quay tr li quanh trc Z gc

A
RB = Rot (r , ) = Rot ( Z , ).Rot (Y , ).Rot ( Z , ).Rot (Y , ).Rot ( Z , )

rx2 (1 cos ) + cos

R(r , ) = rx ry (1 cos ) + rz sin

r r (1 cos ) r sin
y
xz

rx ry (1 cos ) rz sin
ry2 (1 cos ) + cos
ry rz (1 cos ) + rx sin

Vi r l vct n v. Tnh cht

rx rz (1 cos ) + ry sin

ry rz (1 cos ) rx sin
rz2 (1 cos ) + cos

R(r , ) = R(r , )

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ng lc hc v iu khin robot

TS Phan Tn Tng

Vy c th vit

r11 r12
R(r , ) = r21 r22

r31 r32

r13
r23

r33

Khi tnh ng hc o th gc quay c th xc nh nh sau

1 r11

= cos

+ r22 + r33 1

cos ( x) = arccos( x)

V vect quay r c xc nh nh sau

rx
r32 r23
1

A
r = ry =
r13 r31

2 sin
rz
r21 r12

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ng lc hc v iu khin robot

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Php bin i trong h ta thun nht

Bin i thun

p = TB p
A

A RB (3 3) M A q (3 1)

A
TB = LLLL M LLLL
(1 3)

p
(
1

1
)
M

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ng lc hc v iu khin robot

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Php bin i trong h ta thun nht

Bin i ngc

1 A
B

p= T . p
A

A TA
A RBT
M RB q

A 1 B
TB = TA = LLL M LLL
0 0 0 M

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ng lc hc v iu khin robot

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1.5 ng hc v tr
ng hc thun

nh ngha h to v cc thng s Denavit Hartenberg

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ng lc hc v iu khin robot

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H to gn ln cc khu nh sau:

Trc Zi t dc theo trc khp i+1

Trc Xi t dc theo phng php tuyn chung gia Zi-1 v Zi, hng
t khp i n khp i+1

Trc Yi vung gc vi Xi v Zi theo qui tc bn tay phi

Gc to Oi l giao ca trc Zi v php tuyn chung ca trc Zi-1 v Zi

Cc thng s Denavit Hartenberg

Khong cch gia 2 khp lin tip theo phng Xi l ai (tham s)

Khong cch gia 2 khp lin tip theo phng Zi-1 l di (tham s hoc
bin khp)

Gc quay quanh trc Xi gia trc Zi-1 v trc Zi l I (tham s)

Gc quay quanh trc Zi-1 gia trc Xi-1 v trc Xi l I (tham s hoc
bin khp)
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ng lc hc v iu khin robot

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Ma trn chuyn i t h i v h i-1 l

Ci
S
i 1
Ai =i 1Aint int Ai = i
0

Si Ci
Ci Ci
Si

Si Si
Ci Si
Ci

ai Ci
ai Si

di
1

Tm li ti khu th i ta c ma trn chuyn i t h th i v h i-1 nh

trn vi cc thng s Denavit Hartenberg c xc nh trong bng
thng s DH nh sau

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ng lc hc v iu khin robot

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ng hc ngc
Ma trn chuyn h to t h n v h 0 l

Tn = A1 A2 ....

n 1

An

Ta lp c h phng trnh:

Nu 6 bc t do:

A11 0T6 =1T6

A11 0Tn =1Tn

A21 1Tn = 2Tn

1 11
A2 T6 = 2T6

.....................

.....................

n2

n 1
1 n 2
An 1 Tn = Tn

1 5
5
A5 T6 = T6

Da vo cc phng trnh trn ta gii ra cc bin khp

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ng lc hc v iu khin robot

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1.6 ng hc vn tc
ng hc vn tc thun
Nu bit v tr im tc ng cui (ta v hng) l
0p v vect bin khp l q
n

pn = [ p x

q = [q1

q2

py

q3

pz

q4

q5

q6 ]

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ng lc hc v iu khin robot

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Vn tc im tc ng cui ph thuc vo vn tc khp

px
q
1
p y
q1
p
z
q1
0
0
0

vn = p& n = J Aq& =

q
1

q1

q1

px
q2
p y

px
q3
p y

px
q4
p y

px
q5
p y

q2
pz
q2

q2

q2

q2

q3
pz
q3

q3

q3

q3

q4
pz
q4

q4

q4

q4

q5
pz
q5

q5

q5

q5

px
q6

p y
q&1

q6
pz q&2

q6 q&3
.

q&4

q6 q&5
&
q6

q6

q6

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ng lc hc v iu khin robot

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ng hc vn tc ngc
Nu bit vn tc im tc ng cui th c th tnh vn tc
ca cc khp
V

vn = J A q&
0

Nn

q& = J
0

Vi

1 0
A
n

1
A l ma trn nghch o

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ng lc hc v iu khin robot

TS Phan Tn Tng

HT CHNG 1

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