bai thi nghiem Äkrb

8/7/2019Bai thi nghiem KRB

1/19

TRNG I HC HNG HIKHOA: IN IN T TU BIN

TI LIU HNG DN

THC HNH - TH NGHIM

TN HC PHN : IU KHIN ROBOT

M HC PHN : 13316

H O TO : I HC CHNH QUY

Hi Phng, ngy//20.. Hi Phng, ngy//20.. Hi Phng, ngy//20..TRNG KHOA TRNG B MN NGI BIN SON

HI PHNG, / 2009


2/19

Phn I: Gii thiu chung v thc hnh - th nghim ca mn hc:

- Mc tiu chung ca phn thc hnh th nghim mn hc:

Gip sinh vin hiu v nm r hn qu trnh tnh ton ng hc cho robot

Trn c s l thuyt c hc, sinh vin lin h c vi vic tnh ton ng hc

Robot trn thc t m c th y l Robot trn phng TN Scobot-ER9

Gip sinh vin thc hnh c cc thao tc iu khin Robot Scobot ER9 thng qua

dng c Teach Pendant v phn mm iu khin Robot Scobase - Phn mm cung cp

cng c cn thit cho ngi s dng trong qu trnh vn hnh v lp trnh cho Robot

Gip sinh vin hiu su hn phn l thuyt iu khin Robot hc trn lp

- Gii thiu chung v thit b phng thc hnh th nghim:

Scorbot ER9: l loi robot dng cnh tay ngi, b phn thn c kh ca robot c nibng cc khp thng ng, c 5 khp quay. Vi bn kp c gn vo th robot c 6 bc

t do. Mi khp ca robot c iu khin bi mt ng c in mt chiu nam chm

vnh cu qua hp truyn ng bnh rng v dy cu roa

My tnh

B iu khin Controller B: L thit b trung gian kt ni gia my tnh v robot thc

hin vic iu khin robot. Vic truyn thng gia my tnh v b iu khin thng qua

cng COM hoc RS 232 cho php chng trnh c vit trn PC iu khin

ROBOT.

Thit b Teach Pendant cho php thc hin iu khin robot c lp vi my tnh .

- Bng tin v thi lng trin khai cc bi thc hnh th nghim

Thi

ng

Tun th 6 Tun th 7 Tun th 8 Tun th 9 Tun th

10

Tun th 11

Bi 1 Bi 2 Bi 3

3h Nhm1

Nhm2

Nhm3

Nhm4

Nhm1

Nhm2

Nhm3

Nhm4

Nhm1

Nhm2

Nhm3

Nhm4

- Phng php nh gi kt qu thc hnh th nghim ca sinh vin:

Bn bo co th nghim

- Cng tc chun b ca sinh vin:

SV phi n li tht k c s ton hc trong tnh ton ng hc robot


3/19

Sinh vin phi nm r c qu trnh tnh ton ng hc thun v ng hc ngc cho

Robot a ra c cc to m Robot s lm vic theo.

Tm hiu v ngn ng lp trnh SCOBASE (phn mm chuyn dng) cho Robot.

- Cn b ph trch, hng dn thc hnh th nghim mn hc:

+ KS. Phm Th Hng Anh

+ThS. Nguyn nh Tht

- Ti liu tham kho

Ti liu v Robot Scorbot ER9 trong phng th nghim

iu khin Robot. TS. Nguyn Mnh Tin. Nh xut bn KHKT

Robot cng nghip. PGS.TS Nguyn Thin Phc

Gio trnh Robot cng nghip. PGS.TS Phm Thng Ct


4/19

Phn II: Ni dung chi tit cc bi THTN:

Bi 1:

GII THIU V ROBOT SCORBOT-ER9 TRONG PHNG TN

1. Mc tiu:

Gip SV nm c tng quan v cu trc robot trong cng nghip, phng php iu

khin Robot, tm hiu v cc thit b ngoi vi c lin quan n Robot.

2. Cng tc chun b ca sinh vin:

c trc ti liu v Robot Scorbot ER9 trong phng th nghim v b iu khin

Controller B

n li c s ton hc cho iu khin Robot

3. Trang thit b cn thit:

- Scorbot ER9

- My tnh

- B iu khin Controller B

- Thit b Teach Pendant

4. Cc ni dung, quy trnh

4.1 Scorbot ER9.

Scorbot ER9 l loi robot dng cnh tay ngi, b phn thn c kh ca robot c ni

bng cc khp thng ng, c 5 khp quay. Vi bn kp c gn vo th robot c 6 bc t do.

Vic thit k ny cho php end-effector c th di chuyn tu trong khng gian lm vic rng.

Mi khp ca robot c iu khin bi mt ng c in mt chiu nam chm vnh cu qua

hp truyn ng bnh rng v dy cu roa. S chuyn ng ca cc khp c m t theo bng

sau


5/19

Hnh 1: Cc khp chnh ca tay Robot

H trc Khp Chc nng ng c

1 Quay thn 1

2 Vai Nng v h cnh tay trn 23 Khuu Nng v h c tay 3

4 C tay Nng v h end_effector 45 Quay c tay Quay end_effector 5

Bng 2: Tn v chc nng cc khp robot

a. Bn kp

Bn kp l mt phn t c gn vo robot thc hin mt cng vic no . Hot

ng ca bn kp khc hot ng ca cc trc, nhng ngc li ngi ta c th a mt lnh

xc nh lng chuyn ng ca cc trc, t ch dn bn kp ng hay m hon ton.Tuy nhin nu bn kp kp vt th ln th n s dng chuyn ng ca n. Bn kp trong robot

ny c th l bn kp chy bng kh nn hoc ng c in servo 1 chiu .

b. iu khin scorbot ER9

- iu khin bng phn mm thng qua my tnh iu khin h thng. Ch yu s dng

phn mm chuyn dng SCORBASE, l phn mm iu khin robot c s dng trn nn ca

Window 98. D s dng, c th s dng trn bt k h thng PC no v thng tin vi ACL,

ngn ng bn trong ca b iu khin bi knh RS232

- Qua thit b cm tay Teach Pendant: N l mt thit b u cui iu khin bng tay s

dng iu khin Scorbot er9 v cc thit b ngoi vi. Trong thc t Teach Pendant dng

di chuyn cc h trc, ghi li v tr, gi cc h trc ghi li v tr v chy chng trnh .

c. H thng truyn ng ca ScorBot ER9

Chuyn ng ca Scorbot c thc hin nh 3 phn t chnh ( Hnh 2).

- ng c in mt chiu

- Hp truyn ng

- Dy curoa v puly


6/19

Hnh 3: H thng truyn ng ca Scorbot ER9

Hnh trn l h thng truyn ng ca Scorbot cho cc h trc t 1 4. Ring h trc 5

h truyn ng khng bao gm dy cu roa v puly m ch c hp truyn ng c s

dng( Hp s ).

* ng c : Cnh tay robot c truyn ng bi ng c in 1 chiu. Cc b tc ng bini tn hiu t b iu khin ( in nng ) thnh s quay ca trc ng c ( C nng ).

Hnh 4: Cu Trc Robot SCORBOT ER9

Scorbot ER9 s dng cc ng c mt chiu nam chm vnh cu chuyn ng cc

trc. Cc chuyn ng ca robot c thc hin thng qua ng c nh hnh di .

ng c cho h trc 1,2 v 3 ng c cho h trc 4v 5


7/19

Cc ng c ny c th chuyn ng vi tc quay rt ln chuyn ng cc ti c

momen ln v ( vi encoer gn ) thc hin cc vng quay ln. Nguyn l hot ng ca

ng c in ni chung v ng c in mt chiu ni ring da trn c s dng in chy qua

cht dn in c t trong t trng. V tr ny to ra mt lc tc ng vo cht dn in

Cu trc c bn ca cc ng c gm cc thnh phn chnh m t trn hnh sau:

Hnh 6: Cu trc ca cc ng c Scorbot

- Stato : L phn t tnh to ra t trng, n c th l mt nam chm vnh cu hoc mt

nam chm in gm mt cun dy qun quanh li thp mng .

- Roto : L phn t quay trong t trng. Ti bn ngoi c ni vi trc ca roto. Roto

ni chung bao gm h thng li thp c c l v cc dy dn c qun vi ln quanhtm bn cc qua cc l. Hai u cui ca dy dn c ni ti hai na ca b chuyn mch n

c cp ngun thng qua 2 chi than .

- Chi than: N ni cc b chuyn mch quay trn v c cp bi dng in t bn

ngoi .

*, Dy cu roa v cc puly

C tc dng lin kt cc chuyn ng, m bo cc khp hot ng mt cch chc chn

v an ton .d. Cc phn t nh v v gii hn v tr

Scorbot er9 lun b tr cc phn t nh v v gii hn trn cnh tay robot m bo

cc chuyn ng din ra chnh xc v an ton. Cc phn t ny bao gm :

- Encoder .

- Ngt cui v cng tc hnh trnh


8/19

- Dng phn cng .

- Cng tc c s .

* Encoder

V tr v chuyn ng ca mi trc Scorbot ER9 c o bi encoder quang in

c gn vo u trc ng c a tn hiu truyn ng c t cc trc v. Encoer bin

chuyn ng quay ca trc ng c thnh mt tn hiu s bng b iu khin. Encoder c

t trn ng c nh ch hnh sau

Hnh 7: V tr a Encoder trn ng c

Encoder s dng trn Scorbot ER9 bao gm mt diot ( LED) quang nh mt ngun

sng. Trc n led l mt mch t hp o sng nh sng. IC ny bao gm mt vi b thu tch

sng quang v mt mch in to ra mt tn hiu s. Mt l khoan trn a quay c t

vo gia mch t hp b pht v b thu sng .

Khi a quay trn gia n LED v b thu nh sng b ngt bi cc vch trn a, ktqu l mt chui xung nhn c bi IC thu sng .

Hnh 8: a encoder trn Scorbot ER9

Encoder c 512 rnh cm nh hnh trn, mi khe b xung trn a c s dng pht

ra mt xung kim ( Xung C) cho mi vng quay ca a. Da trn xung kim ny xc nh v

tr gc ca cc trc .

B thu sng phi c sp xp sao cho khi thay i c th pht hin ton b nh sng. u ra

cc diode quang c a vo mch x l tn hiu, kt qu cho ra cc tn hiu nh hnh 9


9/19

Cc b so snh nhn tn hiu v to ra cc tn hiu s cc knh A, B, v I. u ra cc

knh A lch pha vi knh B mt gc 90o. Khi chiu quay ca a ngc vi chiu quay kim

ng h, knh A s sm pha hn knh B, v ngc li khi chiu quay ca a theo chiu kim

ng h th knh B s sm pha hn knh A.

Hnh 9 :Tn hiu iu ch a vo iu khin

*Ngt cui v cng tc gii hn

SCORBOT ER9 s dng cc cng tc gii

hn, gii hn cc khp chuyn ng ra ngoi chc

nng gii hn ca chng. Khi c mt li iu khin

s dng h trc cui hnh trnh lm vic, cng tc gii hn s tc ng tm dng cc hnhtrnh . Cng tc ti hn l mt b phn trn cnh tay robot c lp vi b iu khin .

Mi trc t trc 1 n trc 4 c 2 cng tc ti hn. V tr ca n cui phm vi lm vic

ca cc h trc. Trc 5 khng c cc cng tc ti hn, n c th quay lin tc. Khi bn kp

c gn vo trc 5 chuyn ng ca n ch c iu khin v gii hn bi phn mm .

Cng tc ti hn c gn trn cc a, cc a ny c gn vi khung ca robot. a

cho trc 3 c ch nh hnh sau :

Hnh 10: V tr cng tc ti hnTrc ra ca hp truyn ng lin kt vi a c gn vi cng tc nh. v tr chuyn

ng cc khp, mu cam trn u ra ca cc trc chuyn ng di chuyn n mt im, im

n sinh ra mt lc trn nt kch thch ca cng tc ti hn vo v tr m n lm hot ng

cng tc .

* Cng tc c s


10/19

Scorbot ER9 s dng cng tc quang c s trn mi h trc nhn dng v tr gc,

hoc cc v tr c nh khc. Cng tc c s c t trn a ging nh cng tc ti hn v

mt ci c c gn trn u ra ca trc truyn ng. Trong sut qu trnh a v v tr gc,

cc bin khp ca robot c chuyn ng mi mt thi im. Mi mt trc c di chuyn

cho n khi c ct tia sng. Khi b thu sng trn mi h trc gi tn hiu ti b iu khin.

Ln u tin v tr m cng tc c s pht hin, ng c tip tc quay cho n khi encoder sinh

ra xung kim. Ti thi im chnh l v tr gc ca h trc. .

4.2. CONTROLLER B h thng iu khin robot

L thit b trung gian kt ni gia my tnh v robot thc hin vic iu khin robot.

Vic truyn thng gia my tnh v b iu khin thng qua cng COM hoc RS 232 cho php

chng trnh c vit trn PC iu khin ROBOT. Ngoi ra thng qua thit b teach

Pendant cho php thc hin iu khin robot c lp vi my tnh .Ni chung b iu khin bao gm nhng phn t in vi h thng vi x l. Cc h

thng ny iu khin chuyn ng ca cc end effector thng qua vic iu khin chuyn

ng ca cc bin khp. Trong mt s trng hp c th lu tr cc chng trnh trong b nh

ca chng .

a. Thng tin tng quan b controler B

Cc c im ca b iu khin .

+ Loi iu khin: Bao gm iu khin c lp, thi gian thc, a nhim, PID ( T l ,

tch phn v vi phn ), PWM iu khin rng xung

+ iu khin ng: gm CP ( ng lin tc ), ng ni, ng thng, ng trn,

ng hnh sin, ng c nh ngha bi ngi s dng to ca thit b .

+ iu khin qu o: Bao gm iu khin qu o kiu Parabonoit, qu o ng

hnh sin.

+ Cc tham s iu khin: iu khin servo, tc , vn tc trt, sai lch v tr trc,

hot ng ca bn kp, bo v nhit, va chm, gii hn, dn ng, giao din encorder, v cc

php tnh .

Ngoi ra cn nhiu cc thng s khc nh: Cp ngun vi phn, trng lng kch thc,

di nhit hot ng, chp, b nh card vo ra ...


11/19

Hnh dng bn ngoi ca Controller B

b. Thnh phn v chc nng giao tip ca Controller B

* , Mt trc ca b iu khin controller

Mt trc ca khi iu khin

Gm cc thnh phn v chc nng nh sau:

- Cng tc ngun: Cng tc ny v tr sau ca b iu khin. Cng tc ngun c th

ni vi ngun 100/110/220/240 VAC ti b iu khin. Khi cng tc ngun bt h thng bt

u hot ng .

-n ngun: n LED mu vng sng ln khi cng tc ngun bt. N ch ra rng ngun

bt .

- Cng tc cp ngun cho ng c truyn ng: Cng tc ny cho php ng hoc ct

ngun cp in p mt chiu ti tt c cc ng c ni. n LED mu xanh gn vo cng

tc sng ln khi cng tc bt. CPU gi cc trng thi on/off ca cng tc trn b iu khin v

gy ra thng bo Cng tc ngun ng c b tt xut hin khi cng tc khng b n .

Cng tc ngun ng c ch trong trng thi ngh trong cc trng hp sau :

+ Khng cp ngun cho ng c v khng cp ngun cho b iu khin

+ Ngn cn s chuyn ng ca cc h trc

Khi cng tc ng c c tc ng, bt k h trc chuyn ng no s c dng mm.

u tin cng tc cc ng c s trng thi off, cc ng c ca robot v tt c cc h trc


12/19

c ni khng cho php hot ng. Nu cng tc v tr ON cc h thng bao gm nh

encorder, cc card vo/ra lin tc chc nng, chng trnh cng s tip tc thc hin, mc d

cc li c thng bo trn mn hnh .

- Nt dng s c v n bo ( Emergecy ): Khi nt dng s c c n th xy ra cc

trng hp:

+ Ngun ng c b ngt, tt c cc chuyn ng ca cc ng c dng li, n

Led mu xanh trn ng c tt .

+Trng thi iu khin tt Control off uc kch hot .

+ n Led s c mu sng ln, mt thng bo dng khn cp xut hin trn

mn hnh, tt c cc chng trnh ang chy b hu b.Cc u vo u ra b treo trng thi

hin ti. Ngun cung cp cho ngi s dng vn c duy tr bnh thng

+ Ch HOME v CON khng th hot ng

gii phng nt dng s c bng cch quay n theo chiu kim ng h theo chiu mi

tn ch ra trn . Khi nt dng s c c gii phng th xy ra cc kh nng nh sau :

+ Thng bo thot khi dng s c c xut hin trn my tnh .

+ n Led dng s c mu tt .

+ n Led cp ngun cho ng c (mu xanh) sng .

+ Nu tn ti th chng trnh s dng bt u chy.

+ Hot ng CON

- Cng tc khi ng li: Ging nh nt n khi ng li trn PC, khi n nt ny th s

khi ng li b iu khin, nu n ang c cp ngun. Khi n nt ny s xut hin :

+ Tt c cc chng trnh ang chy s b treo.

+ V tr gc HOME s b xo i t b nh trong sut qu trnh khi ng li .

- Cp ngun cho cc ngt cui: S dng cp ngun cho cc phn t bn ngoi trong ngdng ca ngi s dng nhn c ngun t b iu khin. S dng cp ngun ca b iu

khin c 4 im cui l + 24VDC 2A, 12 VDC 2A, cp ngun di ng chung, ni t an ton .

- Cc im u ra: C tt c 16 u ra trong h thng robot chuyn cc tn hiu n

cc phn t bn ngoi trong mi trng ca robot. Controller- B c 2 loi u ra, 4 rle u ra

v 12 tip im thng m.


13/19

- Cc tip im u vo: C 16 u vo trong h thng robot nhn cc tn hiu t cc

phn t bn ngoi trong mi trng hot ng ca robot .

- Cc n LED vo ra: C 16 led mu xanh tng ng vi u ra t 1 n 16, n Led

ny sng ln khi u ra c kch hot. C 16 n Led u vo tng ng vi 16 u vo t 1

n 16 n ny sng ln khi u vo c kch hot .

* , Mt sau b iu khin :

Hnh 13: Mt sau Controller B

Trong : 1. Cng tc ngun ON/OFF

2. Chn cm ngun 100/110/220/240VAC

3. Thit b tip t

4. Cng RS 232

5. u ni Teach Pendant

6. u ni cng song song

7. u ni ngun robot

8. u ni Encoder

9. u ni trc chuyn ng

10.u ni Scorbot ER911.u ni cc khi vo/ra

12.Cng tc iu khin s c t xa

13.u ni ra iu khin t xa cho ng c servo

14.Cng a chc nng RS 232

* Cu trc bn trong ca b iu khin


14/19

y l nhng thng tin v phn cng ca h thng. N tch hp y cc phn t to

nn b iu khin bao gm .

- CPU: Loi motorola 68020. y l b x l trung tm cha tt c cc mch in cho

php iu khin, nh thi , lu tr v truyn ti d liu a ch, thut ton thc hin .

- EPROM : 512 KB, c th m rng ti 2MB .- RAM: 512 KB, c th m rng ti 2 mB trong c 150 KB dnh ring cho h thng

cn 350 KB thay i i vi ngi s dng .

- PIN: C mt pin 3(V) s dng cho vic phc hi b nh, c tui th 2 nm

- INPUT: B iu khin robot Scorbot c 16 u vo c chia thnh 2 khi cch ly

quang

Hnh 14: u vo b iu khin

Mi khi c t ch lun ni v c th c tham chiu ti cc thit b ngoi vi

khc nhau hoc ti trng thi tip t ca b iu khin. Cc mch u vo b iu khin s

dng cch li quang m bo cch ly v in gia b iu khin v cc thit b in t khc

trong h thng .

- OUTPUT : Gm 16 u ra , c chia thnh 2 khi cch li quang .

Hnh15: u ra ca b iu khin

- Truyn thng: Hai knh tch hp chun truyn thng RS 232 c th c m rng ti

10 knh .

- a nhim: Thc hin ng thi ti a 40 nhim v ca ngi s dng

5. Kt lun, cc yu cu cn t c i vi sinh vin sau khi thc hnh:

- Nm c cu trc tng quan ca con Robot Scobot ER9 trong phng th nghim

- Cc phng php iu khin Robot

- Phn mm Scobase-pro ngn ng lp trnh cho Robot Scobot ER9


15/19


16/19

- p dng quy tc Denavit HarterBerg t khung to nh sau :

X0Y0Z0 t ti trc quay ca khp th 1

X1Y1Z1 ..................................................2

X2Y2Z2 ..............................................................................3

X3Y3Z3....................................................4

X4Y4Z4....................................................5

X5Y5Z5....................................................6

Chn cc trc to cho cc khp ta c khung to Robot Scorbot ER9 nh sau:

- Lp bng quan h DH

- Tnh Cc nh thc A1A2.....A5.Ma trn tng qut :

1000

0 nnn

nnnnnnn

nnnnnnn

dCosSin

SinaSin.CosCos.CosSin

CosaSinSinCos.SinCos

Ta c ma trn ca bn kp l :


17/19

5

4

2

1

1

0

5

0A...A.ATT

H

R== =

1000

zzzz

yyyy

xxxx

paon

paon

paon


- Nm c phng php tnh ton ng hc trong iu khin Robot

- Phng php a ta xc nh v tr ca tay nm Robot

Bi 3:SCOBOT ER9 LM VIC TRONG K THUT HN

1. Mc tiu:

- Gip sinh vin thc hnh c cc thao tc iu khin Robot Scobot ER9 thng qua

dng c Teach Pendant v phn mm iu khin Robot Scobase - Phn mm cung cp cng c

cn thit cho ngi s dng trong qu trnh vn hnh v lp trnh cho Robot.


18/19

- Gip sinh vin hiu su hn phn l thuyt iu khin Robot hc trn lp

2. Cng tc chun b ca sinh vin:

- Sinh vin phi nm r c qu trnh tnh ton ng hc thun v ng hc ngc

cho Robot a ra c cc to m Robot s lm vic theo.

- Hiu v lp trnh c vi ngn ng SCOBASE (phn mm chuyn dng) cho

Robot.

3.Trang thit b cn thit:

- Scorbot ER9

- My tnh

- B iu khin Controller B

- Thit b Teach Pendant

4.Cc ni dung, quy trnh:

Hn ch theo yu cu

V khng c sng hn nn qu trnh hn mt mi hn c c trng bi vic ng bn

kp. Kt thc mi mt mi hn bng vic m bn kp. Sau khi hn xong mt ch ci th c

tr v tip tc hn cc ch ci tip theo. Kt thc mt chu k hn c ting chung bo hiu.

V d: Hn ch V

Bng vic tnh ton ng hc tm ra to chnh xc ca Robot, ta np to ca

robot, ghi li s v tr m robot phi thc hinTa c bng to v tr di dng to ecac nh sau:

STT X (mm) Y(mm) Z(mm) Pitch (deg) Roll (deg)1 37.33 -418.96 58.85 -106.29 0.762 -2.05 -328.42 51.15 -128.43 0.763 -64.07 -450.29 35.91 -96.12 0.76

Tt c cc thao tc trn phi c tnh ton rt cn thn v kim tra trc khi thao tc

trn my tnh. Sau c th iu khin Robot hot ng th phi thao tc theo trnh t sau:

- Kim tra tt c cc u ni gia b iu khin v Robot, my tnh v b iukhin

- Cp ngun 220VAC vo b iu khin v my tnh

- Bt cng tc b iu khin bi nt ON/OFF

- n nt cp ngun cho cc ng c mt chiu mt trc ca b iu khin

- Khi ng my tnh

- Trn thit b Teach Pendant, chuyn nt ch AUTO/TEACH ch auto


19/19

- M phn mm Scobase trong my tnh (Trn Desktop)

- a robot v v tr gc (Home) bng cch chn Run Search Home-all axis

- Sau khi a robot v v tr gc xong th vo menu File/new m mt file mi

bng cch lp trnh v np cc v tr cho chng trnh.

- Sau khi np cc v tr mi xong, cho chy chng trnh bng cch vo menu Run.

+ Nu mun Robot chy theo tng dng lnh mt th chon Run Single line.

+ Nu mun Robot chy theo chu k th chn Run Single cycle

+ Nu mun Robot chy lin tc th chn Run Continuosly.

- Sau khi robot hon thnh xong cng vic hn ca mnh, ta phi a robot v v tr

gc


- Nm c cc trnh t thao tc iu khin Robot Scobot ER9

- Lp trnh cho Robot Scobot ER9 i theo mt qu o cho trc

bai thi nghiem Äkrb

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