摘要玻璃基板的转运是 FPD 产业的重要环节，为了降低基板废品率和提高面板生产效率， 本文针对转运机械手轨迹优化问题进行了深入研究。首先以 PUMA 560 作为转运玻璃基 板的机械手，应用 D-H 法对其进行运动学建模。针对现有研究中采用的单一 B 样条曲线 规划轨迹的方法在路径起始和末尾存在严重的加速度超约束问题，基于 5-B-5 曲线，设计 了一种新的机械手关节角轨迹插值方法。针对玻璃基板转运过程耗时长、抖动大问题， 选取插值轨迹各段总时间和最大加加速度作为待优化的变量，并用罚函数法处理约束问 题，把带非线性约束的多目标优化问题转化为单目标优化问题，再用遗传算法进行优化。 仿真结果验证了所设计方法的可行性和有效性。79713

毕业论文关键词 轨迹优化  单目标优化  插值  玻璃基板转运机械手

毕 业设计 说明书 外文摘 要

Title Trajectory Optimization of Manipulator for  Conveying Glass Substrates           

AbstractConveying glass substrates is a critical process in Flat Panel Display (FPD) industry。 In order to reduce the scrap rate and improve the productive efficiency, trajectory optimization of manipulator is investigated in depth in this paper。 Choosing PUMA 560 as the manipulator for conveying glass substrates, its kinematic model is established via the D-H parameter method。 In order to solve the problem that acceleration of manipulator joints is beyond constraints at both the beginning and end part of trajectory in the current B-spline based trajectory planning research, a new interpolation methods based on 5-B-5 curve is designed。 Total time of the interpolation curve and maximum acceleration of each section of the curve are selected as optimizing variables and penalty function is used to deal with the constraints。 In this way, the multi-objective optimization problem with nonlinear constraints is transformed into a problem of single objective optimization, which is solved by using genetic algorithm。 Simulation results show that the designed method is feasible and effective。 

Keywords Trajectory optimization;  Single objective optimization; Interpolation;  Glass substrates conveying manipulator

本科毕业设计说明书 第 I  页

目 次

1 绪论 1

1。1 研究背景 1

1。2 玻璃基板转运机械手及其轨迹规划概述 2

1。3 国内外研究现状 2

1。4 本文内容安排 3

2 PUMA 560 转运机械手及其运动学建模 5

2。1 空间位置关系的数学描述 5

2。1。1 位姿表示 5

2。1。2 坐标变换 7

2。1。3 齐次坐标变换 8

2。2 机器人运动学建模 9

2。2。1 D-H 参数与连杆坐标系