Ni dung mn hcgm ba phn 1. Cc khi nim c bn, nn tng c hc c kh trong kt cu robot. 2. iu khin robot. 3. ng dng robot. Ti liu tham kho: 1. Modernling and control robotic. 2. Robotic control. 3. Robot v h thng cng ngh robot ho. 4. K thut robot. 5. Robot cng nghip. Cc lnh vc c quan h cht ch: 1. Ton hc cao cp. 2. C l thuyt. 3. C hc my. 4. K thut iu khin. 5. ng hc v ng lc hc my. 5. Cng ngh thng tin. Chng 1: Cc vn c bn v robot. (3 tit) 1.1. Cc khi nim c bn v phn loi robot: 1.1.1. Robot v robotic:Theo tiu chun AFNOR ca php: Robot l mt c cu chuyn i t ng c th chng trnh ho, lp li cc chng trnh, tng hp cc chng trnh t ra trn cc trc to ; c kh nng nh v, di chuyn cc i tng vt cht; chi tit, dao c, g lp theo nhng hnh trnh thay i chng trnh ho nhm thc hin cc nhim v cng ngh khc nhau. Theo tiu chun VDI 2860/BRD: Robot l mt thit b c nhiu trc, thc hin cc chuyn ng c th chngtrnhhavnighpccchuynngcachngtrong nhngkhongcchtuyntnhhayphituyncangtrnh.Chng c iu khinbi cc b phn hp nhtghp ktnivi nhau,c kh nng hc v nh cc chng trnh; chng c trang b dng c hoc cc phng tin cng ngh khc thc hin cc nhim v sn xut trc tip hay gin tip. Theo tiu chun GHOST 1980: Robot l my t ng lin kt gia mt tay my v mt cm iu khin chng trnh ho, thc hin mt chu trnh cng ngh mt cch ch ng vi s iu khin c th thay th nhng chc nng tng t ca con ngi. Bncnhkhinimrobotcnckhinimrobotic,khinimnyc th hiu nh sau: Robotics l mt nghnh khoa hc c nhim v nghin cu v thit k, chtoccrobotvngdngchngtrongcclnhvchotng khc nhau ca x hi loi ngi nh nghin cu khoa hc - k thut, kinh t, quc phng v dn sinh. Roboticslmtkhoahclinnghnhgmckh,int,kthut iukhinvcngnghthngtin.Nlsnphmcthca nghnh c in t (mechatronics). 1.1.2. Robot cng nghip: Mc d lnhvc ngdngcarobot rt rngv ngycng cm rng thm,song theo thng kv ccngdngrobotsauy chng ocsdngchyutrongcngnghip,vvykhinhcnrobot ngi ta thng lin tng n robot cng nghip. Lnh vc19851990 Hn Phc v my NC v h thng TLH c Lp rp Phun ph Sn Cc ng dng khc 35% 20% 10% 10% 10% 5% 10% 5% 25% 5% 35% 5% 15% 10% Robot cng nghip l mt lnh vc ring ca robot, n c c trng ring nh sau: - L thit b vn nng oc TH theo chng trnh v c th lp trnh li p ng mt cch linh hot kho lo cc nhim v khc nhau. - c ng dng trong nhng trng hp mang tnh cng nghip c trng nh vn chuyn v xp d nguyn vt liu, lp rp, o lng. Do c hai c trng trn nn robot cng nghip c th nh ngha nh sau: Theo Vin nghin cu robot ca M xut: RBCN l tay my vn nng,hot ng theo chng trnh v c th lp trnh li hon thnh v nng cao hiu qu hon thnh cc nhim v khc nhau trong cng nghip, nh vn chuyn nguyn vt liu, chi tit, dng c hoc cc thit b chuyn dng khc. Hay theo nh ngha GHOST 25686 85 nh sau: RBCN l tay my c t c nh hay di ng, bao gm thit b tha hnh dng tay my c mt s bc t do hot ng v thit b iu khin theo chng trnh, c th ti lp trnh hon thnh cc chc nng vn ngv iu khin trong qu trnh sn xut. Trong mn hc ny ch i su nghin cu v robot cng nghip trn cc kha cnh phn tch la chn s dng, khai thc 1.2. Cc cu trc c bn ca robot cng nghip: 1.2.1. Cu trc chung: Mt RBCN bao gm cc phn c bn sau: Tay My: (Manipulator) l c cu c kh gm cc khu, khp. Chng hnhthnhcnhtay(arm)toccchuynngcbn,Ctay (Wrist)tonnskholo,linhhotvbntay(Hand)hocphn cng tc (End Effector) trc tip honthnh cc thao tctrn i tng.H thng cm bin: gm cc sensor v thit b chuyn i tn hiu khc. Cc robot cn h thng sensor trong nhn bit trng thi ca bn thn cc c cu ca robot v cc sensor ngoi nhn bit trng thi ca mi trng. C cu chp hnh: tochuyn ng cho cc khu ca tay my. Ngun ng lc ca cc c cu chp hnh l ng c cc loi: in, thu lc, kh nn hoc kthp gia chng. H thng iu khin: (controller) hin nay thng l h thng iu khin s c my tnh gim st v iu khin hot ng ca robot 1.2.2. Kt cu tay my: Tay my l phn c s quyt nh kh nng lm vic ca robot. l phnckhmbochorobotkhnngchuynngtrongkhng gianvkhnnglmvicnhnng,hvt,lprp...Taymyhin nay rt a dng v nhiu loi khc xa vi tay ngi. Tuy nhin, trong k thut robot vn dng cc thut ng quen thuc ch cc b phn cataymynhvai(shoulder),Cnhtay(Arm),ctay(Wrist),bn tay (Hand) v cc khp (Articulations),...Trongthitkquantmnccthngscnhhnglnnkh nng lm vic ca robot nh: - Sc nng, cng vng, lc kp ca tay... -Tmvihayvnglmvic:Kchthcvhnhdngvngmphn lm vic c th vi ti. -Skholo,lkhnngnhvvnhhngphncngtctrong vng lm vic. Cctaymyccimchungvktculgmccckhu, c ni vi nhau bng cc khp hnh thnh mt chui ng hc h tnh t thn n phn cng tc. Cc khp c dng ph bin l khp trt v khp quay. tu theo s lng v cch b tr cc khp m c th to ra cc tay my kiu to Decac (Cartesian), to tr (Cylindrical), to cu (Revolute), SCARA, POLAR, kiu tay ngi (Anthropomorphic).Taymykiutacc,cngilkiuchnht,dngbakhp trt, cho php phn cng tc thc hin mt cch c lp cc chuyn ngthng,songvibatrcta.Vnglmviccataymyc dng hnh hp ch nht. Do s n gin v kt cu tay my kiu ny c cng vng cao, chnh xc c m bo ng u trong ton bvnglmvic,nhngtkholo.Vvy,taymykiucc c dng vn chuyn v lp rp. Taymykiutatrkhcvitaymykiucckhpu tin: Dng khp quay thay cho khp trt. Vng lm vic ca n c dnghnhtrrng.Khptrtnmngangchophptaymyth c vo khoang rng nm ngang. cng vng c hc ca tay my trtt,thchhpvitinngnhngchnhxcnhvgctrong mt phng nm ngang gim khi tm vi tng. Tay my kiu ta cu khc kiu tr do khp th hai (khp trt) c thay bng khp quay. Nu qu o chuyn ng ca phn cng tc c m t trong ta cu th mi bc t do tng ng vi mt kh nng chuyn ng v vng lm vic ca n l khi cu rng. cng vng ca loi tay my ny thp hn hai loi trn v chnh xc nh v ph thuc vo tm vi . Tay my Scara c xut dng cho cng vic lp rp. l mt kiutaymyccutocbit,gmhaikhpquayvmtkhp trt, nhng c ba khp u c trc song song vi nhau. Kt cu ny lmtaymycngvnghntheophngthngngnhngkm cng vng theo phng c chn l phng ngang. Loi ny chuyn dngchocngviclprpvititrngnhtheophngng.T Scara l vit tt ca selective compliance assembly robot arm m tcccimtrn.VnglmviccaScaralmtphncahnh tr rng. Tay my kiu phng sinh, c c ba khp u l khp quay, trong trcthnhtvunggcvihaitrckia.Dostngtvitay ngi,khpthhaicgilkhpvai,khpthbagilkhp khuu ni cng tay vi khuu tay. Vi kt cu ny khng c s tng nggiakhnngchuynngcacckhuvsbctdo.Tay my lmvic rt kho lo, nhng chnh xc nh v ph thuc v tr caphncngtctrongvnglmvic.Vnglmviccataymy kiu ny gn ging mt phn khi cu. Ton b dng cc kt cu m t trn mi ch lin quan n kh nng nh v ca phn cng tc mun nh hng n, cn b sung phn c tay. Mun nh hng ty phn cng tc c tay phi c t nht ba bc t do. Trong trng hp trc quay ca ba khp gp nhau ti mt im ta gi l khp cu. u im chnh ca khp cu l tch c thao tc nh v v nh hng ca phn cng tc, lm n gin vic tnh ton. Cc kiu khp khc c th n gin hn v kt cu c kh, nhng tnh ton ta kh hn do khng tch c hai loi thao tc trn. Phn cng tc l b phn trc tip tc ng ln i tng ty theo yu cu lm vic ca robot phn cng tc c th l tay gp, cng c (sng phun sn, m hn, dao ct, cha vn c) 1.3. Phn loi Robot: 1.3.1. Phn loi theo kt cu: Ly hai hnh thc chuyn ng nguyn thy lm chun: Chuyn ng thng theo cc hng X, Y, Z trong khng gian ba chiu thng thng to nn nhng khi hnh c gc cnh, gi l Prismatic (P). Chuyn ng quay quanh cc trc X, Y, Z k hiu (R). Vi ba bc t do, robot s hot ng trong trng cng tc ty thuc t hp P v R v d: PPP trng cng tc l hp ch nht hoc lp phng. RPP trng cng tc l khi tr. RRP trng cng tc l khi cu. RRR trng cng tc l khi cu. Bng thng k sau y trn 200 mu robot v phng din t hp bctdo,theophbinlloirobotctrngcngtclmt khi tr vi t hp l mt khi tr PPR chim 72%. S bc t do trn 4 chim khng nhiu. 3T4%4%-- 2T3%3%3%- 1T--10%- 0T---2% Tnh tin/ Quay0R0R2R3R 1.3.2. Phn loi theo phng php iu khin: C 2 kiu iu khin robot: iu khin h v iu khin kn. iu khin h, dng truyn ng bc ( ng c in hoc ng c thy lc, kh nn,..) m qung ng hoc gc dch chuyn t l vi s xung iu khin. Kiu ny n gin, nhng t chnh xc thp. iu khin kn ( iu khin kiu servo ), s dng tn hiu phn hi v tr tng chnh xc iu khin. C 2 kiu iu khin servo: iu khin im - im v iu khin theo ng ( contour). Vi kiu iu khin im - im, phn cng tc dch chuyn t im ny n im kia theo ng thng vi tc khng cao ( khng lm vic ). N ch lm vic ti cc im dng. Kiu iu khin ny c dng trn cc robot hn im, vn chuyn, tn inh, bn inh, iu khin contour m bo cho phn cng tc dch chuyn theo qu o bt k, vi tc c th iu khin c. C th gp kiu iu khin ny trn cc robot hn h quang, phun sn. 1.3.3. Phn loi theo ng dng : Cch phn loi ny da vo ng dng ca robot. V d, c robotcngnghip,robotdngtrongnghincukhoahc, robotdngtrongkthutvtr,robotdngtrongqun s Ngoinhngkiuphnloitrncnc:Phnloitheo hthngnnglng,phnloitheohthngtruynng, phn loi theo chnh xcChng 2: ng hc tay my. (15 tit) 2.1. V tr v hng ca vt rn trong khng gian: 2.1.1. H ta vt: Mt vt rn trong khng gian hon ton xc nh nu v tr v hng ca n c m t trong mt h quy chiu cho trc. Trong hnh v di y h ta Oyxz vi cc vc t n v l x, y, z c dng lm h quy chiu gc. m t v tr v nh hng ca ca vt rn trong khng gian, thng phi gn ln n mt h ta , gi l h quy chiu a phng, chng hn h ta Oxyz gc cah ta ny i din cho v tr ca vt trong h quy chiu gc Oxyz, biu thc sau y ni ln quan h gia chng:

z o y o x o Oz y x' ' ' ' + + =Trong l cc hnh chiu vung gc ca vc t O lnhtaOxyz.CthmtnhvcaimOquavct O(3.1) nh sau: Hng ca vt c i din bi cc vc t n v x, y, z ca h quy chiu Oxyz, v c m t bng quan h sau:

Ccthnhphncaccvctnv(xx,xy,xz)lcosinch phngcacctrccahtaaphngsovihquychiu chung. ((((

=zyxoooo''''z y xo o o ' , ' , 'z z y z x z zz y y y x y yz x y x x x xz y xz y xz y x' ' '' ' '' ' ''''+ + =+ + =+ + =

Hnhvdiymtvtrvhngcavt rn trong khng gian:

2.1.2. Ma trn quay: cho gn, 3 vc t n v trn c th biu din di dng ma trn (3.3) gi l ma trn quay nh sau: Phpquayquanhmttrctaltrnghpcbitcaphpquaymtvt quanh mt trc bt k trong khng gian, chiu quay c quy c l dng nu nhn t ngn v gc ca trc thuc h quy chiu ang xt thy ngc chiu kim ng h. | |((((

=((((

= =z z z y z xy z y y y xx z x y x xz y xz y xz y xz y x RT T TT T TT T Tz z zy y yx x x' ' '' ' '' ' '' ' '' ' '' ' '' ' ' Gi s h Oxyz nhn c do quay h Oxyz quanh trc z mt gc , vc t n v ca h ny c biu din trong h Oxyz nh sau: Ln lt ma trn quay quanh trc z, trc y, trc x ca h quy chiu O so vi h O c dng: Tccphpquaycnbnquanhcctrccahquychiucho php thnh lp ra cc ma trn quay mt i tng quanh mt trc bt k. Cn lu rng cc ma trn ny c tnh cht trc giao, ta c th xc nhnghch o can theo hai cch, hoc thay gc bnggi tr i du ca n vo ma trn quay, hoc chuyn v ma trn quay ang c.((((

=((((

=((((

=100' ;0cossin' ;0sincos' z y x oooo((((

=| || ||cos 0 sin0 1 0sin 0 cos) (yR((((

=1 0 00 cos sin0 sin cos) ( o oo oozR((((

= cos sin 0sin cos 00 0 1) (xR2.1.3. Quay mt vc t: Cthmtphpquaymtvctbngcchsdngccma trn quay nu trn, hy xem m t ca im P trong hai h quy chiu trng gc nh sau: Ln lt m t im P trong hai h ta ri tin hnh ng nht hai ta nh sau: V cng m t mt im nn c ng nht thc: Hay cng c th bin i c dng: Nu vit di dng khai trin ma trn quay c dng y ca php quay nh sau: Trongccctcamatrnquaychnhl cccosin chphng ca cc cp trc tng ng gia hai h quy chiu. V 3trc camt h quy chiu c quan h i mt vung gc nn 9 thnh phn ca ma trn quay ch c ba thnh phn thc s c lp tuyn tnh. ((((

=((((

=zyxzyxpppppppp'''' ;| | ' ' ' ' ' ' ' ' ' ' ' ' Rp p z y x z p y p x p p pz y x= = + + = =p R pT= ''1 0 00 cos sin0 sin cosp p((((

= o oo o Tm li ma trn quay R c 3 ngha tng ng nhau: Biu din hng gia hai h ta trong cc ct ca ma trn quay l cosin ch phng gia cc trc ta tng ng ca hai h mi v c. Biu din s chuyn i ta ca mt vc t gia hai h ta c gc trng nhau. Biu din php quay ca mt vc t trong cng mt h quy chiu. 2.2. Quay mt vc t quanh mt trc bt k: 2.2.1. Tng hp cc ma trn quay: Trong qu trnh bin i ha hoc nhn din cc i tng trong khng gian, cc php quay c th khng thc hin i vi trc c s l trc c bn ca h quy chiu, m quanh mt trc quay bt k. Khi thc hin c php quay cn bit 2 im c bn sau y: Vic quay quanh mt trc bt k c th tng ng vi nhiu ln quay quanh cc trc c bn ca h quy chiu, m mi php quay quanh cc trc c bn ca h quy chiu cc trng bi ma trn Ai tng ng c dng nu trn. Vic biu din mt lot cc thao tc bin i quay c thc hin bng cch nhn lin tip theo ng trt t cc ma trn c trng cho tng bc. Nu k hiu Pi l im P biu din trong h quy chiu i, cnl biuthmatrnquaycahisovihj.Hyxemchui quan h sau:120102202010102121R R RP R PP R PP R P====2.2.2. Php quay quanh trc bt k: ylmttrnghpthngxuyngpkhimtng hc tay my, v cch thc thc hin phi nm c tng nh sau: 1- Bin i trc quay so vihquy chiu (hoc bin i h quychiusovitrcquay)bngmatrnquaytiuchun trnhbytrnsaochongngvaitrtrcquayv trng vi 1 trong 3 trc c bn ca h quy chiu, gi A1 l ma trn c s dng bc ny. y cn ch rng nu bin i trc quay gi nguyn h quy chiu, ma trn A1 l ma trn tiu chun trnh by trn,cnnubinihquychiusovitrcquayc nh,phisdngmatrnA1Tlchuynv(nghcho) ca ma trn quay tiu chun. Ma trn A1 ni trn trong trng hp tng qut lun l tch ca hai ma trn quay tiu chun quanh 2 trong 3 trc c bn ca h quy chiu, hy xem v d sau: ng thng v trn hnh v ng vai tr trc quay, y khng biu din i tng quay s ly n lm c s. V v khng trng vo trc c bn no ca h quy chiu Oxyz ang xt nn n b coi l trc bt k. Tuy nhin m t v phi bit trcnh hnh v. a c v v trng vi 1 trong 3 trc c bn c th thc hin nh sau: Gi A2 = Rot(z, - ) l ma trn quay v quanh trc z gc theo chiu kim ng h khi nhn t ngn v gc trc z. Mc ch ca bc ny l lm cho v v trng vi mt phng xoz. Trong mt phng xoz, gi A3 = Rot(y, ) l ma trn quay v quanh trc y gctheo chiu kim ng h khi nhn t ngn vgctrcy.LcnyvtrngvitrcOz,phpquay quanhtrcvtrngviOzlphpquaycbnni trn.VythaotcbinivvtrngviOzthcragm hai bc nh sau: A1 = A2A3

CthrtraktlunrngavvtrngvitrcOx hoc Oy cng ch gm hai thao tc tng t, v d liu gc m t v nh trn l d a v v trng vi bt c trc no. o| 2-Khitrcquaybtktrngvimttrongba trc c bn ca h quy chiu ni trn c th s dng ma trn A4 l ma trn quay tiu chun thc hin php quay quanh trc v (lc ny l trc c bn). 3-Trktquvhquychiucbngcchthc hinngclinhngglmbc1,matrn biningclchuynv(hocnghcho)ca ma trn bin i thun. Chnghntrongvdtrn,trktquvhquy chiu c cn: QuayvngckimnghquanhtrcOybngmatrn A3T. QuayvngckimnghquanhtrcOzbngmatrn A2T. Vytonbqutrnhmtmtphpquaygcmti tngnoquanhtrcvbtk,lmtmatrntnghp nhiu bc bin i m trnh t thc hin c lin quan n th t sp xp ca tng ma trn trong mt php nhn sau: Hy nhn xt quy tc trn v xy dng cho nhng trng hp khc cn li. T TA A v z Rot A A v Rot2 3 3 2). , ( . ) , ( = 2.2.3. M t ti thiu ca hng: 2.2.3.1. Gc Euler: Gclehnhthnhmthngtithiubng cchthpccthnhphnclptuyntnhca ma trn quay trong h ta hin thi (ba ln quay quanhbatrccabahquychiukhcnhau).Ty theocchthpcth3thnhphnclpt9 thnhphnbanucthtc12bgcle khc nhau. (V d mt b gc le l zyz, ngha l quay quanh trc z, quay quanh trc y, ri li quay quanh trc z, tc l trong mtbgclecthquayquanhmttrctia2ln, songphil2lnkhnglintip.Vykhixutnumt trcquay cthcmthailnthban uscb6ln quay, quanh 6 trc x, y, z, x, y, z. C ba kh nng chn trc quay u tin hoc x, hoc y, hocz. C hai kh nng chn trc quay th hai, chn 2 trong 3 trctrntrtrcchnbctrc,vhaitrcquay ging nhau khng c thc hin lin tc. Chaikhnngchntrcquaylnbavcthchn lp li trc u tin v cn mt trc cha dng ln no. Vy s kh nng ca php quay le l k = 3.2.2 = 12) V d: Php quay le ZYZ = Quay mt gcquanh trc Oz u tin c h O. QuaymtgcquanhtrcOyvanhncch O. QuaymtgcquanhtrcOzvanhncch O. Phng trnh m t bin i hn hp ny l tch ca ba ma trnquaylintipnitrn,matlabschoraktquchnh xc v vy khng trnh by y. REUL = Rot(z, ).Rot(y, ).Rot(z, ) Nuchotrcmatrnktqucaphpbinilevi trnh t cc php quay quanh cc trc cho trc, yu cu tm gi tr gc quay y l bi tan ngc. Bi ton ny c th gii d dng bng cch ng nht cc thnh phn tng ng ca ma trn thun bit dng tng qut (ma trn cha ccbingc)vmatrnngcchotrc(chacchng s).Kholochnccphngtrnhsaochovicgiil n gin nht to 3 phng trnh cn bng vi ba n. ) , , ( 0 0V d: Kt qu php nhn ma trn: Cho trc ma trn sau khi nhn bng cc gc c th l: Nhn thy ct cui cng ca hai ma trn c dng n gin nht, ta c th to ra h phng trnh sau: Chia v ca phng trnh th nht cho phng trnh th hai, tnh c mt n. Th n va tm c vo phng trnh th nht tnh c mt n na. S dng tip mt biu thc khc c cha ta tnh nt c bin ny. ((((

+ + = 0 =0 0 00 0 0 0 0 0 c s s c ss s c c s c s s c c c ss c c s s c c s s c c c) , z ( Rot ). , y ( Rot ). , z ( Rot R, , ,EUL((((

=33 32 3123 22 2113 12 11a a aa a aa a aR= ==332313a ca s sa s c00 0 2.2.3.2. Gc Roll pitch Yaw: Ngi ta thng v y l dao ng ca mt con tu. Trn c s hiu th no l gc Euler, chng ta c th hiu ngn gn l RPY chng qua l b gc EULER theo trnh t (zyx) = ( song im khc bit cn bn l ba ln quay u thc hin quanh ba trc ca cng mt h quy chiu ban u. Tng t nh trng hp gc EULER, bi ton ngc c gii bng cch so snh ma trn kt qu ni trn vi ma trn nh hng cho trc: B thng s gc quay c th xc nh c bng cch ng nht cc phn t tng ng to ra mt h ba phng trnh ba n. ((((

++ = = 0 0 0 0 0 0 0 0 0 0 c c s c ss c c s s c c s s s c ss s c s c c s s s c c cx R y R z R RRPY) , ( ) , ( ) , (((((

=33 32 3123 22 2113 12 11r r rr r rr r rR Nhn xt: Php quay le v php quay RPY khc nhau ch: Phpquaylequaybalnquanhbatrccabahquychiu khc nhau, t th ca vt cn nh v vi h quy chiu quay i3lncxcnhbngmatrnle.Thcchtlvtth t ti nh hng ca n bng cch quay h quy chiu cn bn thnnngcnh.(itngquayitrongphpquayny l h quy chiu) Php quay RPY li nh v vt th bng cch gi h quy chiu c nhtrongkhixoayvtlintipbalnquanhbatrccah quychiubanu.(itngquayitrongphpquaynyl vt th) -Phpquayhquychiuilintip(le)theocctrccah quy chiu a phng va sinh ra (trong iu kin vt th c nh) cho kt qu ging nh php quay lin tip vt th (RPY) so vi h quy chiu c nh song theo th t ngc li. Chng minh: Gi A l ma trn im biu din im mt vc t cn bin hnh trongc hai h quy chiu. Php quay vt so vi h quy chiu c nh lin tip: (1) Hay gi A1 l nh ca A qua nh x ta c: (2) Sau khi quay vt i ln th nht bi phpthc hin bnh thng v trc z lc ny l trc c bn. Ln quay th hai quanh trc y khng c ma trn quay v y lc ny l trc bt k, ta phi lm trng n vi mt trc ca h quy chiu ri s dng php quay c bn quanh trc y c, sau tr kt qu li nh sau: (3) Lc ny trc x li l trc bt k, c ma trn quay ta li phi lm trng trc quay trc khi quay, sau khi quay bng ma trn quay tiu chun tr kt qu li nh sau: (4) Vy biu thc t c cui cng y chnh l mt trnh t ngc li vi(2). Biu thc (2) biu thi php quay RPY cn (4) biu th le. ) , " ( ) , ' ( ) , ( 0 x R y R z R RRPY =) , " ( ) , ' ( ) , ( .1 0 x R y R z R A A =) )R(z, (y, . ) , ( ) , ( ) , ( ) , ( .1 0 0 R A z R y R z R z R A =) , ( ) , ( ) , ( . ) , ( ) , ( ) , ( ) , ( )R (z, )R )R(z, (y, .-1 -1 0 0 0 0 z R y R x R A z R y R x R y R A =2.3. Php bin i thun nht: Trong gio trnh CAD/CAM khi hc v bin i ha ni r rng ma trn (3.3) khng ph hp cho vic th hin php bin i tnh tin, mc d th hin php quay ma trn quay ch cn c kch thc (3.3), cc php bin i t l u, khng u, quay, tnh tin c th c biu th t hp trong mt ma trn duy nht (4.4), nu trng s a44 = 1 khng th hin php t l. Php bin i nh ma trn thun nht gi l php chuyn i thun nht. Quy c ma trn im vit sau ma trn bin hnh c cc ma trn bin hnh nh sau: Nh4matrnnycthbiuthchuynngcamt vt bt k trong khng gian, song tnh trc giao ca ma trn quay biu din di dng thun nht khng c m bo. (((((

=(((((

=(((((

=1 0 0 00 00 00 0 0 1) , ( ;1 0 0 00 00 0 1 00 0) , ( ;1 0 0 00 1 0 00 00 0) , ( | || |o oo o | oc ss cx Rotc ss cy Rotc ss cz Rot(((((

=1 0 0 01 0 00 1 00 0 1) , , (PNMP N M Trans2.4. Bi ton ng hc thun ca tay my: Nhim v ca bi ton thun l khi cho trc cc bin khp phi xc nh v tr v nh hng ca tt c cc khu trn cnh tay, thng thng nu khng khng ch qu o ca cc khu trn cnh tay nhm trnh va chm vi cc i tng khc trong vng lm vic, ngi ta thng ch xc nh v tr v nh hng ca khu sau cng. Trn cnh tay c cc khu v cc khp t hp vi nhau m to thnh, cnh tay c hai hnh thc c bn, c th chui ng hnh thnh nn n l kn, hoc h. Cc khu v cc khp c m t qua cc thng s c chia ra hai loi, cc thng s khng thay i (chiu di khu) gi l tham s. Cc thng s thay i (gc quay ca khu, lng di chuyn di ca khu tnh tin) gi l bin khp. Trong k thut robot s dng ph bin hai loi khp thp l quay v tnh tin, khp cu c t hp t ba khp quay c ng trc quay giao nhau ti mt im. Php chuyn i ta c biu din bng ma trn chuyn i thun nht: Trong l vc t nh v, l cc vc t nh hng didngcosinchphngcaphnlmvic.Chnghnvima trn thun nht c th chn nh sau: Cc phn t a12; a13; a23 l cc phn t nh hng, cc phn t a14; a24;a34lccphntinhv.Nhvychcn6phntmt nh v v nh hng. ((

=1 0 0 0) ( ) ( ) ( ) () (0 0 0 00q p q a q s q nq T(((((

=1) (3424 2314 13 120aa aa a aq T) (0q p) ( ), ( ), (0 0 0q a q s q n nh v v nh hng tng khu trn cnh tay cng nh khu tcng sau cng ngi ta phi gn cc h ta suy rng ln tng khu, c c cu c mt h quy chiu chung ni vi gi c nh, h quy chiunycchcnngvamtnhv,nhhngkhutc ng sau cng ca tay my, va m t i tng tc ng ca tay my m n cn nhn din. Vic xy dng cc h quy chiu ny cn c tnhthngnhtcao,ihitnhxcnhduynht.Sauysxem xt quy tc DH l mt quy tc in hnh.

Mt cch tng qut tay my coi l c n khu, trong khu th i lin kt khp (i) vi khp (i+1) nh hnh v. Theo quy tc DH cc h ta c xc nh theo quy c sau: Trc ta zi trng vi trc quay ca khp (i + 1), gc trng vi chn ca ng vung gc chung gia trc quay khp (i) v trc quay khp (i+1), trc x ca n trng vi ng vung gc chung v hng t trc (i-1) ti trc (i), trc y t xc nh theo quy tc bn tay phi. Trc ta zi-1 trng vi trc quay ca khp (i), trc x trng phng ng vung gc chung gia trc (i-1) v khp (i), chiu dng hng t trc (i-1) ti khp (i). Trc y t xc nh theo quy tc bn tay phi. Quy c cc gc v khong cch trn lc nh sau: l khong cch gia hai khp theo phng ng vung gc chung. di l khong cch gia giao im ca hai ng vung gc chung vi trc quay, tnh theo phng ca ng vung gc chung. l gc quay quanh trc xi zi-1 n trng vi zi. l gc quay quanh trc zi-1 xi-1 n trng vi xi. Cng vic cn li l bin i sao cho h quy chiu Oi-1 trng vi h quy chiu Oi. Trnh t bin i thc hin nh sau: Tnh tin Oi-1 theo trc (Oi-1zi-1) mt lng di bng ma trn tnh tin. Quay h quy chiu Oi va nhn c mt gcquanh trc zi bng ma trn quay. Nhn hai ma trn ny vi nhau c ma trn bin i thun nht ca bc ny nh sau: Tnh tin h quy chiu Oi theo trc xi mt lng ai bng ma trn tnh tin. Quay h quy chiu nhn c bc trn quanh trc xi gc hon thin. (((((

=1 0 0 01 0 00 00 01'ii ii iiidc ss cA0 00 0 Nhnhaimatrnnyvinhaucmatrnbinithun nht ca bc ny nh sau:

Ma trn bin hnh tng hp t c bng cch nhn hai ma trn trn c dng: (((((

=1 0 0 00 00 00 0 1'i ii iiiic ss caAo oo o(((((

= = 1 0 0 00) (' 1'1i i ii i i i i i ii i i i i i iiiii iiid c ss a s c c c sc a s s c s cA A q Ao o0 o 0 o 0 00 o 0 o 0 0C mt s trng hp c bit ca quy tc DH nh sau: Cc h quy chiu c nh v da vo giao im ca ng vung gc chung gia hai trc quay, vy trong trng hp hai trc quay song song vi nhau c th ty chn v tr gc h quy chiu. ng thi trong trng hp vic quay quanh trc x l khng cn thit. Trong trng hp hai trc quay giao nhau, lng tnh tin theo phng trc x bng khng 2.4.2. Mt s v d ng dng quy tc DH: Tay my ba khu phng: S ng hc ca tay my cho thy nh hnh v: Thayccthngstngngvoccmatrnmutngqutni trn nhn c ma trn bin hnh cho tng bc nh sau: Khinhnccmatrnnyvinhaucmatrnchuynitng hp: y k hiu:(((((

=1 0 0 00 1 0 000) (1 i i i ii i i iiiis a c sc a s cA 0(((((

+ ++ + = =1 0 0 00 1 0 000) (123 3 12 2 1 1 123 123123 3 12 2 1 1 123 12323120103s a s a s a c sc a c a c a s cA A A q T) cos( c3 2 1 1230 + 0 + 0 =Tay my ta cu: S ng v bng thng s DH cho thy nh hnh v: V z0 v z1 ct nhau nn d1 = 0. T bng thng s DH c cc ma trn chuyn v thnh phn nh sau: Nhn cc ma trn trn vi nhau c ma trn chuyn v tng hp: (((((

=1 0 0 00 0 1 00 00 0) (1 11 1101c ss cA 0(((((

=1 0 0 00 1 00 00 0) (22 22 2212dc ss cA 0(((((

=1 0 0 01 0 00 0 1 00 0 0 1) (3323dd A(((((

+ = =1 0 0 00) (3 2 2 22 1 3 2 1 2 1 1 2 12 1 3 2 1 2 1 1 2 123120103d c c sd c d s s s s c c sd s d s c s c s c cA A A q T2.4.3. Vng hot ng ca phn cng tc: Tphpccimmtaymyckhnngnhvv nhhngphncngtcthamnyucucngvicto thnh mt hoc vi min lin tc, min c gi l min cngtc,hayvnglmvic,Nhngimthucvovng lm vic m tay my khng th t c nh v do cc l do kt cu gi l l trng. Vnglmviccataymylmtthngsquantrng can,thtchvhnhdngcavnglmvicphthuc vo kt cu ca tay my v gii hn ca cc bin khp. i khi ngi ta c phn bit vng vi ti v vng vi ti cnhhng,biudincvnglmvic,xcnh phn vi ti c inh hng v vi ti khng nh hng cn c cc knng ton hc, v trn c s c im cth ca tng loi tay my. 2.5. Bi ton ng hc ngc ca tay my: Bi ton thun ng hc nhm xc nh nh v v nh hng ca phn cng tc khi cho trc cc bin khp. Bi ton ngc cho trc v tr v nh hng ca khu tc ng sau cng i hi phi xc nh b thngstasuyrngmbochuynng cho trc ca phn cng tc. ivitaymycktcudngchuingh, nuchotrcbthngsbinkhpthvtrv nhhngcaphncngtcxcnhduynht, iunykhngngvicctaymyccutrc dng chui ng kn. ivicctaymydngchuingh,ngvimtbthngs m t nh v v nh hng ca phn cng tc khi gii bi ton ngc c th xy ra cc trng hp: C th c nhiu li gii khc nhau; Ccphngtrnhngnhtthcthngcdngphituyn,siu vit, thng khng cho li gii ng; Cthgp nghimvnhvccc linktthagingkiukt cu siu tnh; Cthcligiitonhc,songligiinykhngchpnhn c v mt vt l do cc yu t v kt cu ca cu trc khng p ng c. Nhnchungkhisbctdocnglnthbiton ngccngkhgii,snghimtonhclicngnhiu, khichncnghimiukhinihiphiloi bccnghimkhngphhpdatrncsccrng bucvgiihnhotngcacckhp.Viclachn phngphpgiibitonngccnglmtvn, chonnaykhngcphngphptngqutnocth p dng cho tt c cc robot. Sau y gii thiu mt s v d bi ton ngc tay my ca cc c cu gii bi ton thun mc trc. 2.5.1. C cu ba khu phng: Da trn ktqu trinkhai bi ton thun,tacphngtrnh ng hc ca tay my ny di dng ma trn ng nht (4.4): Ma trn nh v v nh hng phn tc ng sau cng trn cnh tay c cho trc trong bi ton ngc di dng nh sau: Nhim v ca bi ton ngc phi xc nh mt b cng thc tnh da trn cc ng nht thc to ra t hai ma trn trn. (((((

+ ++ + = =1 0 0 00 1 0 000) (123 3 12 2 1 1 123 123123 3 12 2 1 1 123 12323120103s a s a s a c sc a c a c a s cA A A q T(((((

=44 43 42 4134 33 32 3124 23 22 2114 13 12 11a a a aa a a aa a a aa a a aA3 2 1; ; 0 0 0 V bin s nm trong gc nn nu gii trc tip h phng trnh m t nh v v nh hng l khng th. Hy xem h thit lp c trn 2 iu kin ny: Ba phng trnh u ca h m t nh hng ca khu sau cng, ba phng trnh sau m t nh v ca khu sau cng. V h suy bin nn thc cht cn ba phng trnh, ba n: == + + + + += + + + + +=== + + 3424 3 2 1 3 2 1 2 1 114 3 2 1 3 2 1 2 1 1231312 3 2 10) sin( ) sin( ) sin() cos( ) cos( ) cos(00) sin(aa a a aa a a aaaa0 0 0 0 0 00 0 0 0 0 00 0 0= + + + + += + + + + += + + 24 3 2 1 3 2 1 2 1 114 3 2 1 3 2 1 2 1 112 3 2 1) sin( ) sin( ) sin() cos( ) cos( ) cos() sin(a a a aa a a aa0 0 0 0 0 00 0 0 0 0 00 0 0 Nu t, m t nh hng ca khu sau cng, phi cho trc gi tr ny. Vy nu xem y l h hai phng trnh hai n vi Matlab c thgiiraktqu,ttnhratuynhinktqurtdikhngc tnh thc t. NucoiimWltmcakhpquaythba,haylimtacng ngh.nhhngcakhusaucngstctrncsxoay hng khu sau cng phi l t im ny. 3 2 10 0 0 + + =2 1,0 0 im ta cng ngh W c th xc nh bng hnh hc nh sau: Bnh phng hai v phng trnh ny ri cng li nhn c: C2 phi tha mn min gi tr ca hm cosin. Tnh c:Thay c2 vo h phng trnh trn v gii ra c: Cui cng tnh c: 03 = | - 01 - 02

Bi ton ngc kt thc phn xc nh nghim ton hc, cn tip tc cn c vo cc yu cu c th chn nghim iu khin. 2 122212 222 a aa a p pcwy wx +=22 21 c s =2 22 2 2 2 11) (wy wxwx wyp pp s a p c a as+ +=2 22 2 2 2 11) (wy wxwy wxp pp s a p c a ac+ + += ) , ( 2 tan2 2 2c s A = 0+ = =+ = =12 2 1 1 312 2 1 1 3s a s a s a p pc a c a c a p py wyx wx|| 2.5.2. C cu cu: Phng trnh ng hc c cu cu xc nh trong bi ton thun, nu tng qut bi ton ngc i hi p ng c nh v v nh hng ca im qun l, s phi gii h 6 phng trnh (ba nh v, ba nh hng) xc nh cc bin khp . Xut pht t phng trnh ng hc trong bi ton thun: Ma trn m t nh v, nh hng ca phn cng tc bit trc: (((((

+ = =1 0 0 00) (3 2 2 22 1 3 2 1 2 1 1 2 12 1 3 2 1 2 1 1 2 123120103d c c sd c d s s s s c c sd s d s c s c s c cA A A q T(((((

=44 43 42 4134 33 32 3124 23 22 2114 13 12 11a a a aa a a aa a a aa a a aA H 6 phng trnh ba n nh sau: Chngtathybaphngtrnhumtnhhngca phn lm vic v vy khng lin quan g n tm vid3, m chyulinquannhaibctdoquay.Ngcli,ba phngtrnhsaumtnhvnnlinquanchtchn tm vi d3. Nu khng i hi nh hng, ch xt h gm ba phng trnh sau trong h == += == =34 3 224 2 1 3 2 114 2 1 3 2 12 1 232 1 131 12a d ca d c d s sa d s d s cs s as c as a2.6. Bi ton vn tc: Bitonvntccthgiitheohaicch,datrnquanhhnh hc hoc da trn quan h gii tch. y trnh by li gii theo quan h gii tch (vi phn ng hc) c th k tha c cc kt qu ca phn tnh ton ng hc ni trn. Bitrngchuynvlligiicabitonngcnghc,cn o hm bc nht ca chuyn v theo thi gian chnh l vn tc. Hy xem quan h sau: -Vntcchuynngtnhtincaphncngtcsovihcs c tnh bng cch ly o hm ca ta p(q) theo thi gian: ' ) ( ' ' q q J qqppp=cc=- Tng t, vn tc quay ca phn cng tc c tnh bng o hm ca ) (q ' ) ( ' ' q q J qq =cc= Tnghplitacphngtrnhbiudinnhhngca cc vn tc khp n vn tc ca phn cng tc nh sau: Trong JA(q) gi l Jacobian gii tch. ' ) ( ') () (''' q q J qq Jq JpxAp=(((

=((

=Chng 3: ng lc hc tay my (7 tit) ng lc hc tay my nghin cu mi quan h gia lc, mmen,nnglngviccthngschuynngca n.Nghincunglchctaymynhmccmcch sau: Mphnghotngcataymy,khost,th nghimqutrnhlmviccanmkhngphidng tay my tht. Phn tch tnh ton kt cu ca tay my. Phn tch thit k h thng iu khin ca tay my. 3.1. Phng php Lagrange: 3.1.1. C s ton hc: Phng php Lagrange da trn mi quan h gia tng nng lng ca h thng vi lc tng qut trong mt h ta tng qut. Gi s xc nh mt tp hp cc bin vi i = 1n, vi t cch l cc thng s m t v tr cc khu ca mt tay my c n bc t do, hm lagrange ca c h l hm s tng qut ca cc bin ni trn: Trong T v U tng ng l ng nng v th nng ca h thng. Cng thc Lagrange c vit nh sau: L = T U iii iL Ldtd =cccc'vi i = 1nii Trong l lc tng qut lin kt vi cc ta tng qut. i vi cc tay my c cu trc dng chui ng h, chn cc ta tng qut l vc t cc bin khp (khp quay l gc quay, khp tnh tin l lng tnh tin): Lc tng qut c th bao gm m men pht ng trn trc ngc,mmenmastticctrc,lctngtcgia phn cng tc vi i tng ((((

=nq1 V d 1: M hnh ng hc ca trc dao ng tng trng cho mt khuchuynngquaytrncarobot,cdnngbi mt ng c c lp nh hnh v: Trn hnh v ng c in c c mmen qun tnh Im , nivihpgimtcctstruynkr,nh,trcc truyn mt m men ch ngv c vn tc gc . Vt quay c khi lng m, mmen qun tnh I v ta trng tm t cch trcdn ng mt khong l. Chnthng s chnh m tvtrcatrcquaylgcquaycatrc(xemhnh v). C ngha l tnh ngc li qua t s truyn ca hp gim tc trc ng c phi quay mt gc . Khi ng nng ca h thng tnh theo cng thc: 222'21'210 0r mk I I T + = Trong tha s th nht m t ng nng ca khu chp hnh, tha s th hai m t ng nng ca ng c. Th nng ca h thng ph thuc vo chiu cao th nng ca khu chp hnh: Thay vo phng trnh Lagrange c: Cng thc Lagrange m t quan h gia cc ta suy rng vi lc suy rng, i hi phi tnh trc mt s i lng c mt nh: ) cos 1 ( 0 = mgl U) cos 1 ( mgl ' k I21' I21L22r m20 0 + 0 =000 000 00sin" "'' ''22mglLk I ILdtdk I ILr mr m =cc+ =cc+ =ccThay cc kt qu trung gian vo cng thc Lagrange v gi thit rng lc tng qutgm m men pht ng, v m men ma stc m hnh sau: Hay di dng quan h vi lc pht ng ca ng c:

' sin " ) (20 t 0 0 F mgl k I Ir m = = + +t' 0 Ft 0 0 0 = + + + sin ' " ) (2mgl F k I Ir m Phng trnh ny c ngha nh sau: quay trc chp hnh i mt gccn tc dng ln trc ng c mt lc ti thiu, lc ny dng to ra tt c cc thnh phn c cng m v tri, trong : Cc i lng gn vitrong phng trnh m t hiu ng ca lc qun tnh (o hm bc hai ca gc quay l gia tc gc, gia tc gc gn vi lc qun tnh). Cc i lng gn vitrong phng trnh m t hiu ngtngh(ohmbcnhtcagcquaylvn tc, vn tc ly tha mt gn vi lc ma st). Cc i lng gn vi trong phng trnh m t hiu nglitm(trongvdnybquahiunglitmnn khng c mt tha s ny). Cc i lng gn vitrong phng trnh m t hiu ng trng lc (lc trng trng). 0t" 0' 02' 00Hai khu ca robot c chiu di d1; d2 vi cc khi lng tng ng m1;m2.Cckhpquayhotngvibinhyxcnhbiu thc tnh lc tng qut. Vi khu 1: Trong K k hiu ca ng nng, y ch xt ng nng ca khu m khng k ng c, P l th nng ca khu V tr ca khu 2 tnh theo biu thc sau: Chiu cao th nng ca khu 2 tnh bng tung im 2: . 2 1;u u1 1 1 12121 121 1 1cos'2121uugd m Pd m v m K == =) cos( cos) sin( sin2 1 2 1 1 22 1 2 1 1 2u u uu u u+ =+ + =d d yd d x) cos( cos2 1 2 1 1u u u + + = d d h Khu 2 chuyn ng theo phng trc x v trc y ng thi nnvntctnghpbngngchohnhchnhttnh theo pitago nh sau: Vy: ) ' ' )( cos( ' cos) )( cos( cos '2 1 2 1 2 1 1 12 12 1 211 1 2 2u u u u u uu uu uuu+ + + =+ + + = =d ddtddtdddtdd xdtdx) ' ' )( sin( ' sin '2 1 2 1 2 1 1 1 2 2u u u u u u + + + = = d d ydtdy)] ' ' ' ( ' cos 2 ) ' ' ' 2 ' ( ' [ ' '2 121 2 2 122 2 121222121222222u u u u u u u u u + + + + + = + = d d d d y x v| | ) cos( cos)] ' ' ' ( ' cos 2 ) ' ' ' 2 ' ( ' [21212 1 2 1 1 2 22 121 2 2 122 2 121222121 222 2 2u u uu u u u u u u u u+ + =+ + + + + = =d d g m Pd d d d m v m K3.1.2. Tnh ng nng: S tnh ng nng chuyn ng

ng nng ca h thnggmhai phn l ng nngcaphn chp hnhvngnngcaccuphtngcngvihthngtruyn ng: ng nng chuyn ng Tli c th c tnh theo s trn: Trong :=+ =nim iT T T1) (dV p p21T' *iliT ' *l li = }' *ip l vector vn tc di (v2 = p*iT.p*i)

l khi lng ring ca phn t th tch dV Vli l th tch ca khu th i: i i'li' *ir p p e + =S tnh ng nng khu dn Sau khi tnh cc thnh phn di du tch phn ca (1), ta nhn thy ng nng Tli c 3 thnh phn: tnh tin, qua li v quay. Tng thnh phnchyultnhtinvquay,saukhitnhcctchphntng ng, bng: Ngoi cc k hiu dng t trc, cc k hiu trong phn ny c quy c nh sau: T - ng nng U - Th nng m - Khi lng J Jacobian I Tensor qun tnh tng ng vi khi tm Ch s l tng ng vi khu (link); m vi ng c (motor). ngnngcamotorcngctnhtngt.Githitngnng castatorctnhvokhumangn.Phnphitnh lngnng ca cc phn chuyn ng, quy v rotor. Mt gi thit na l ng c iu khin khp th i s c gn trn khu th i l*. ' q J R I R J q21q J J q m21TlioTiTli iT ) li (oT ' ' ) li (PT ) li (PT 'li li+ =(2) Trong s tnh ng nng khu dn, ng nng ca motor c tnh nh cng thc: Trong cc thng s ca rotor: mmi: khi lng : vn tc di Imi: Tensor qun tnh ca rotor i vi khi tm ca n : vn tc gc Ta nhn c cng thc tng t: Cng ng nng ca tt c cc khu tng ng vi cc biu thc (2) v (4) c cng thc tnh ng nng ca ton h thng: mi miTmi'miT 'mi mi miI21p p m21T e e + =mie'miP' q J R I R J q21q J J q m21TmioTmiTmi miT ) mi (oT ' ' ) mi (PT ) mi (PT 'li mi+ =' T ' 'j'in1 jijn1 iq ) q ( B q21q q ) q ( b21T = = = =(4) 3.1.3. Tnh th nng: Thnngcahthngcngbaogmthnngcatngkhuv ca tng ng c: Trong k hiu li - ch link khu. mi - ch motor - ng c (ngun chuyn ng). Gi thit cc khu rn tuyt i v lc duy nht gy nn th nng l trng lc, khi th nng ca cc khu c tnh bi cng thc: Trong g0 l vc t gia tc trng trng trong h c s, ngha l: g0 = [0, 0, -g] nu trc z t thng ng. Th nng ca ng c: Cng tt c vi nhau, th nng ca h thng m t nh sau: =+ =nimi liU U U1) (} = =liliTli iTlip g m dV p g U0*0miTmi mip g m U0 ==+ =nimiTmi liTlip g m p g m U10 0) ( 3.1.4. Tnh lc tng qut v phn tch ngha c hc ca m hnh Lagrange: Tr li vi v d 2, trong mc 3.1.1 v robot hai khu. ng nng v th nng ca hai khu u xc nh c trong mc . tnh lc tng qut c phng trnh Lagrange nh sau: Khitnhlctngqutkhiu:q1=;q2=,vikhu1xy dng cng thc Lagrange,di dng:) cos( cos ) () ' ' ' ( cos ( ) ' ' ' 2 ' (21' ) (21) ( ) (2 1 2 2 1 1 2 12 121 2 2 1 122 2 12122 22121 2 12 1 2 1u u uu u u u u u u u u+ + + ++ + + + + + =+ + =gd m gd m md d m d m d m m LP P K K L1u2u11 1'FL Ldtd=ccccu u' cos ' cos 2 ) ' ' ( ' ) ('2 2 2 1 2 1 2 2 1 2 2 122 2 121 2 11u u u u u u uud d m d d m d m d m mL+ + + + + =cc i tnh ton cc i lng c mt trong cng thc: " cos ' sin " cos 2' ' sin 2 ) " " ( " ) ('2 2 2 1 222 2 2 1 2 1 2 2 1 21 2 2 2 1 2 2 122 2 121 2 11u u u u u uu u u u u uud d m d d m d d md d m d m d m mLdtd+ + + + + =cc) sin( sin ) (2 1 2 2 1 1 2 11u u uu+ + =ccgd m gd m mLThay vo phng trnh Lagrange tng qut v nhm cc tha s: 1u quay khu 1 i mt gcng c phito ra mt lc ti thiu l F1, Lcnycctnhphituyn,lhpcanhiuyutnhquntnh, tng h, trng lc, li tm | | | |) sin( sin ) ( ' sin ' ' sin 2" cos " cos 2 ) (2 1 2 2 1 1 2 122 2 2 1 2 1 2 2 2 1 22 2 2 1 222 2 1 2 2 1 122 221 2 1 1u u u u u u u uu u u u+ + + + + + + + + =gd m gd m m d d m d d md d m d m d d m d m d m m FTng t xy dng cng thc lc tng qut cho khu 2: phntchngha ccthnhphntrongbiuthctnhlc tng qut, biu din gn li nh sau: Tha s gn vi : m t hiu ng qun tnh; : M t hiu ng li tm; : M t hiu ng tng h ( ma st, chuyn ng theo..); : M t hiu ng trng trng. | |) sin( 2 ' ' sin 2' sin " " cos2 1 2 2 2 1 2 2 1 221 2 2 1 2 222 2 1 2 2 1 122 2 2u u u u uu u u u u+ + + =gd m d d md d m d m d d m d m Fi i i iD D D D F u u u u4 322 1' ' " + + + ="iu2'iu'iuiu 3.2. Phng php NEWTON EULER: ViphngphpLagrange,mhnhnglchccataymy xutphtttngnnglngcahthng.PhngphpNewton Euler xy dng m hnh da trn s cn bng ca h lc tc dng ln h thng. (Nguyn l almbe cho h lc cn bng) S ng hc dn n cng thc Newton Euler nh sau: fi fi+l + migo = mip Chuynngtnhtincatrngtmcmtbngcngthc Newton: CngthcEulercdngchochuynngquaycakhu,trong ccmomenctnhivitatmvtrnglc migo khng gy nn momen, v n c t ngay ti trng tm: o hm thnh phn th nht ca v phi: o hm thnh phn th hai: Thay vo cng thc Euler Lc tng qut c th tm c bng cch chiu lc fi ( i vi khp trt ) hocmomen(ivi khp quay )ln trc khp, cng thm momen qun tnh ca rotor: ) z I q k I (dtdr f r fl mi l mi'l i l i , r i i Ci , i l i l i Ci , l i i i + + + + + + + e = + ) ( ) ('i i i i i i iI I Idtde e e e + =l mi i l mi l i l mi l mi l i l mi l mi l iz I q z I q z I qdtd+ + + + + + + + ++ = e' " ') (l mi i l mi l i l i r l mi l mi l i l i r i i i i i Ci i l i l i Ci l i i iz I q k z I q k I I r f r f+ + + + + + + + + + + + + = + e e e e ',",', ,) (e + e += tmiT 'mi mi ri l iTimiT 'mi mi ri l iTiiz I k zz I k z f3.2.2. Tnh gia tc ca khu: Tnh gia tc di: ivikhu(i),tnhcgiatccnbitvntcvgcca vn l cn bit vc t xc nh v tr ca trng tm khu (i). Vi khp trt, k hiu pi-1; pi ln lt l vc t v tr ca khp (i 1)vkhp(i),ri-1,ilkhongcchgiahaitrccachng,dil khong dch chuyn theo khp (i) ta c: Trongcngthcny,thasthnhtlvntccakhumang khuangxt.Thasthhailvntctnhtin(dokhptrt). Tha s th ba l vn tc di (chuyn ng quay to ra). ) ' ' ( ', 1 1 1 i i i i i i ir z d p p + + = eo hm hai v theo thi gian phng trnh ni trn c: Thayvo phng trnh trn c: Vi khp quay: o hm vn tc theo thi gian, c: Tng hp li, ta c cng thc tnh gia tc di ca khu th i: ) ( ' ' ' " " ", 1 1 1 , 1 1 1 1 1 i i i i i i i i i i i i i i i i ir z d r z d z d p p + + + + + = e e e e ei i i i i i ir z d r, 1 1 1 ' , 1' + = e) ( ' ' 2 " " ", 1 , 1 1 1 1 i i i i i i i i i i i i i ir r z d z d p p + + + + = e e e ei , l i i'l i'ir p p e + =) (, ,' " "i l i i i i l i i l i ir r p p + + = e e e'ipe e + e +e e + e + += ) r ( r p) r ( r d 2 z d ppi , l i i i i , l i'i"l ii , l i i i i , l i i'i l i"i"l i"iTnh gia tc gc: i vi khp trt: V nn: i vi khp quay,v nn: Tng hp li ta c cng thc tnh gia tc gc ca khu th i: l i i = e e' 'l i i = e el i i l i iz + ='0 e el i l i i l i il iiz z + + = e 0 0 e e' " ' 'e 0 + 0 + ee= e l i l i'i l i"i'l i'l i'iz z Chng 4: C s iu khin robot (5 tit) ng hc v ng lc hc tay my phc v vic phn tch kt cu ca tay my, lm nn tng cho vic thit k phn c kh ca tay my. Mt khc quan h gia lc tng qut, m men v chuyn ng li rt cn cho vic thit k c cu dn ng, chn ngun chuyn ng, song v c bn nhng cng vic trn mi ch cp n phn tay my. Theo nh cc nh ngha a ra trong chng 1, tay my l thit b ciukhintngtheochngtrnh.Ngmhaiphnli tngiukhinvhthngiukhin.Nhimvcahthngiu khin l iu khin tay my thc hin cc nhim v t ra, ngha l phn cng tc phi dch chuyn theo qu o nh trc v thc hin cc chc nng cng tc. Ni dung chnh ca iu khin robot lin quan ti nhng vn sau: - Quan h gia qu o hot ng ca phn cng tc vi cc thng s ng hc, ng lc hc ca tay my. - Lut, phng php iu khin v cu trc ca h iu khin. -Ccccucahthngiukhinnhccuphtng,cmbin,b iu khin, cng cc c cu chuyn i v truyn tn hiu gia chng. - Lp trnh cho robot. Ccvntrnlinquannnhiunghnhkhoahckhcnhau,trong phm vi chng ny chng ta cp n cc vn thin v c kh trong bi ton iu khin robot. 4.1. Thit k qu o: Qu o l vn chung trong iu khin robot, v hon thnh nhim v c th ca mnh th trc ht phn cng tc phi di chuyn theo ng qu o xc nh. Ni cch khc, qu o l yu t c bn m t hot ng ca robot. Vic thit k qu o cung cpdliuuvochohthngiukhinnncnglcstrctipchoviciu khin. Tmphnbithaithutngngdchchuynhmchtphpccimtrong khng gian m khu cn iu khin phi i qua trong qu trnh lm vic, n cha ng cc yu t hnh hc thun ty, iu ny c nghin cu k khi hc v to hnh v m t ban u ca cc dng ng cong khc nhau trong CAD/CAM hc phn I. Thut ng qu o chuyn ng hay gi tt l qu obao gm c yu t hnh hc ca ng dch chuyn ln yu t thi gian thc hin chuyn ng nh vn tc, gia tc. V vy bi ton thit k qu o lin quan n cc vn ng hc v ng lc hc. Ccyutuvocabitonbaogmngdchchuynvcciukinrng buc v ng hc v ng lc hc. Ccyuturalquocaphncngtc.Nichung,mtchnhxcng dch chuyn l rt kh khn. Ngi ta gim bt cc tham s bng cch quy nh cc im bin ca vng hot ng, thm cc im trung gian m ng phi i qua, sau xp x (nisuy)bngccngngin.tngtnhvy,yutthigiancaquo khng th xc nh cho tng im m thng quy nh cho c on ng. Chng cng thngcquynhbngccgitrgiihnnhvntcchophp,haygiatccho php, hoc gn bng cc gi tr mc nh. Bi tonthitkquoctratrongckhnggiankhplnvnghotng. Cc rng buc v ng dch chuyn thun ty cc yu t hnh hc thng c m t trong vng hot ng. Ngc li lc chuyn ng ca h thng thng xut pht t cc khp, nn vic iu khin cc ng c dn ng i hi xc nh quy lut bin thin theo thi gian ca cc bin khp, vic ny thc hin trong khng gian khp. 4.1.1. Thit k qu o trong khng gian khp: Chuyn ng ca tay my thng c m t trong vng lmvicbngccimnt(gmimu,imcui,v c th c mt s im trung gian) v thi gian chuyn ng. V vy, thit k qu o trong khng gian khp phi gii bitonngcnghcxcnhgitrccbinkhp ti cc im nt. Sau thit lp cc hm ni suy q(t) m t qu o va nhn c. Thuttonthitkquotrongkhnggiankhpyu cu: Khng i hi tnh ton qu nhiu; V tr, vn tc, c th c gia tc ca cc khp phi c biu din bng cc hm lin tc; Gim thiu cc hiu ng bt li, v d qu o khng trn. Dng dn gin ca qu o l chuyn ng im - im, nuthmccimtrunggianthquocdngchuyn ng theo ng. 4.1.1.1. Chuyn ng im - im: Chuyn ng im- im s dng cho mt s loi robot nh robot hnim,tninh,xpdvtliu,trongdngchuynngny, ngi ta ch quan tm n cc ta im u, im cui ca ng dchchuynvthigianchuynnggiaccimchkhng quan tm n dng hnh hc ca ng dch chuyn. Nhim v t ra lxcnh quochuynngthamnccyucuchungvc th thm c mt s tiu ch ti u no . Gi I l mmen qun tnh ca mt vt rn quay quanh trc ca n, cn xc nh quy lut thay i ca gc q, gia gi tr u qi (i: initial) v gi tr cui qf trong khong thi gian tf. (f: finish). Lc pht ng l m men t mt ng c. Tiu chun ti u t ra l nng lng tiu th trn ng c l nh nht. Dokhiugcquaycakhuchphnhlq,vyquanhcagc quay v vn tc gc th hin di dng o hm nh sau: Song nu biu th gia tc qua vn tcquan h ny c dng nh sau: te = ' qt = e' IV ch xt trong khong thi gian ti n tf nn cn c iu kin: C k n tiu chun ti u: Phng trnh vi phn cp 2, bc mt vi m men qun tnh v lc suy rng ni trn c li gii tng qut l mt a thc bc hai i vi thi gian t: Theoquanhohm,chuynvhayquochuynngc dng mt a thc bc ba: Nghimringcavntccdngmtathcbchaivitlinh sau: Gia tc thay i theo quy lut bc nht: } =fti fq q dt t0) ( e}ftdt t02min ) ( tc bt at t + + =2) ( e0 12233) ( a t a t a t a t q + + + =1 2232 3 ) ( ' a t a t a t q + + =2 32 6 ) ( " a t a t q + = xc nh c 4 h s gi nh thng cn c 4 iu kin u, thng l v tr u qi v v tr cui qf, vn tc u qivntccuiqf.Thngchnvntcuvvntc cui bng khng qi = qf= 0.Cc h sgii nh c xc nh t h phng trnh: = + += + + +==f f ff f f fiiq a t a t aq a t a t a t aq aq a' 2 3'1 2230 1223310Vd1:Chotrcquylutchuynngmtbctdoca tay my nh sau: Gc xut pht qi = 0, gc cui cng qf = ; Thi gian chuyn ng ti = 0, thi gian cui tf = 1; Vn tc du v vn tc cui bng khng:ti = tf = 0. Thay cc thng s ny vo h phng trnh gi nh trn xc nh c cc n s nh sau: a0 = a1 = 0; a2 = 3a3 = -2C dng y ca tt c cc ng cong gi nh, v li cc quan h chuyn v, vn tc v gia tc ni trn theo kt qu va tm c v tin hnh kho st s b cc c im ca chng c cc gii hn chnh nh sau: Vn tc c quy lut bc 2 vi gi tr cc i: qmax = khi t = 1/2; Gia tc bin thin theo quy lut bc nht vi:qmax = khi t = 0 vt = 1; ttt2 / 3tt 6Vtr(rad)Thi gian (s)01230 0.2 0.4 0.6 0.8 1Vn tc (rad/s)00Thi gian (s)0.6 0.2 0.4 0.8 112345Vn tc (rad/s^2)0-20Thi gian (s)0.6 0.2 0.4 0.8 1-1001020q0qc0qittc tm tf - tc tfq'tq"tqmqf0 tc tf - tc tfq' cq"c- q"ctctf - tc tfMt dng qu o thng s dng trong cng nghip l dng a thc hn hp, dng qu o ny chn quy lut vn tc hnh thang. Quochiaralmbaphnrrt,khingvigiatckhng i,chuynngtipvivntckhngi,vchvigiatc khng i. Qu o thc t l hai on parabol (mu en)ni vi nhau bng mt on thng (mu ) Gi thit qi = qf = 0, gi thit thi gian tng tc v thi gian gim tc bng nhau (q c gi tr bng nhau im u v im cui). Cc iu kin trn dn n qu o i xng nhau qua im gia qm = (qf qi)/2 ti tm = tf/2. m bo qu o l hm lin tc, vn tc ti cc im tip gip on parabol v on thng khng c nhy bc, ngha l trn th chuyn v on thng phi tr thnh tip tuyn ca on parabol, hay hsgccaonthngphibnghsgccaonparabolti im tc. (h s gc ca ng thng phngtrnhcaonchuynngnhanhdnungvion parabol l

( c mc mt tq qtg= o2"21c c i ct q q q + = vy h s gc bng o hm bc nht ca chuyn v l ). Vy iu kin lin tc ti im tip gip c th hin nh sau: Trong qc l gi tr bin khp q t ti ti thi im kt thc on parabol tc di dng nhanh dn u, vi gia tc qc, v q(0) = 0 nn: Kt hp vi rng buc lin tc ni trn c phng trnh: Nu cho trcy l phng trnh bc hai mt n vi tc, gii phng trnh ny trong khongnhn c nghim nh sau: c c ct q q " ' =c mc mc ct tq qt q= "2"21c c i ct q q q + =0 " "2= + i f c f c c cq q t t q t q biu thc di du cn dng, cn phi c: f i f cq q t q ; ; ; "2fctts") ( 4 "2122ci f c f fcqq q q t tt =24"fi fctq qq> Nu biu thc trn nhn du bng th khng c on nm ngang ca vn tc, biu vn tc c dng tam gic. Nh vy, vi cc gi tr cho trc ca qi; qf v tf t biu thc ny cho php tnh c gia tc qc, sau tnh c tc, cui cng xc nh c qu o t ba on: Ch rng quy lut vn tc hnh thang khng m bo ti u v nng lng nh t c vi qu o l a thc bc ba, n tng khong 12,5% so vi gi tr ti u s s s s +s s +=f c f f c fc f ccc c ic c it t t t t t q qt t t ttt t q qt t t q qt q; ) ( "21);2( "0 ; "21) (22 4.1.1.2. Chuyn ng theo ng: Trongnhiuhotng,vdhnhquang,sn,xpdvtliutrong khng gian c nhiu chng ngi vt, robot cn c iu khin theo ng. Khislngimcaminglnhnhai.cthkhngchl imphiiquanthunmticthphikhngchcvntcv giatcpngyucucngngh.Ccimnhvygilccim cht, s lng im ny nhiu hay t ty thuc yu cu chnh xc ca qu o. BitontralxcnhquoquaNimcht.Nhvymibin khpphithamnNiukinrngbuc.thchiniu,cth ngh n qu o dng a thc bc (N1). Tuy nhin giiphp ny c cc nhc im: Khng th khng ch c vn tc ti im u v im cui. Bcathccngcaothkhnngdaongcngln,nhhngxu n trng thi lm vic ca robot. chnhxctnhtoncchscaathcgimkhibccaathc tng. H phng trnh rng buc phc tp v kh gii. Cc h s ca a thc ph thuc tt c cc im, v vy khi cn sp xp li mt im th cng phi tnh ton li ton b. C th khc phc cc nhc im trn bng cch s dng mt qu o lai, trong mt s on a thc bc cao c thay th bng cc on a thc c bc thp hn. Cc a thc thay th gi l a thc ni suy. m bo tnh lin tc ca vn tc ti cc im cht, bc ca a thc ni suy khng th nh hn bc ba, xt quy lut binthintheothigiancamtbinkhpq(t).ng cong bin thin ca n gm N 1 on a thc ni suy bc bavi k = 1..(N-1). Hm q(t) nhn gi tr qk ti im tk (k = 1..N). Ti im u t1 = 0, gi tr q1 = qi (i : initial), ti im cui tN = tf (f: finish) c qN = qf. Cc gi tr qk chnh l i din cho cc im cht ca qu o Qu oc thit kcn phithamnnhngiukin rng buc, nht nh c th xem xt cc trng hp sau: Gi tr vn tc ti cc im q(t) ti cc im cht l xc nh, Gi tr q(t) ti cc im cht c tnh theo cc ch tiu xc nh, m bo tnh lin tc ca gia tc q(t) ti cc im cht. ) (tk[Qu o vi cc im cht v cc a thc ni suy athcnisuyvigitrchotrccavntcticcim cht: C hai iu kin chnh cn phi m bo: Cc a thc ni suy phi i qua cc im cht (iu kin vi hm chuyn v). Vntcticcimchtphibnggitrnhtrc(iukin vi o hm bc nht ca chuyn v). NutrnquocNimchtthsathcbcbanisuyk hiuni cc im qk v qk+1 l (N 1). Trong mi a thc phi tha mn cc rng buc sau: Miathcnisuybcbac4hsginh.Chngcxcnh bng cch gii cc h phng trnh c dng nh trn, cn phi gii (N 1) h xc nh (N 1) b h s gii nh, thng gi tr vn tc ti imuvtiimcuiclybng0.iukinlintccavn tc ti cc im cht c m bo bi iu kin: ) (tk[= [= [= [= [+ ++ +1 11 1' ) ( '' ) ( ') () (k k kk k kk k kk k kq tq tq tq t) ( ' ) ( '1 1 1 + + +[ = [k k k kt t a thc ni suy vi gia tr vn tc tnh ton ti cc im cht: Trong trng hp ny gi tr ca vn tc ti cc im cht c tnh ton t nhng iu kin nht nh. Bng cch ni cc im cht bng cc on thng, vn tc ti cc im cht c tnh theo quy tc sau: Trong lhsgc,tngtrngchodccaonthngtrongkhong thi gian (tk tk-1). Xem hnh v b) minh ha trng hp ni trn vi s liu sau: Ta thy vn tc tin ti gi tr 0 ti cc im cht. 11=k kk kkt tq qv0 ' ; 0 '; 5 ; 3 ; 2 ; 0;2; 2 ; 04 14 3 2 14 3 2 1= == = = == = = =q qt t t tq q q q ttt a thc ni suy vi gia tc lin tc ti cc im cht: Chaitrnghpnitrnukhngmboctnhlintc cagiatcticcimcht.Munmbotnhlintccac chuynv,vntcvgiatcthathcnisuygiahaiimcht lin nhau phi tha mn cc iu kin rng buc: Trong v ngha cc rng buc din t cc im chnh nh sau: Rng buc th nht ch iu kin i qua; Rng buc th hai ch iu kin i qua cng mt im; Rngbucthbachhsgctiptuynbngnhautiim chuyn tip trn biu chuyn v (hoc vn tc chuyn tip bng nhau trn biu vn tc); Rng buc th ba ch bn knh cong tc thi ti im chuyn tip bng nhau trn biu chuyn v (hoc gia tc bng nhau ti im chuyn tip trn biu gia tc). [ = [[ = [[ = [= [) ( " ) ( ") ( ' ) ( ') ( ) () (1111k k k kk k k kk k k kk k kt tt tt tq t Xem hnh v c) minh ha trng hp ni trn vi s liu sau:0 ' ; 0 '; 5 ; 3 ; 2 ; 0; ;2; 2 ; 06 16 4 3 16 4 3 1= == = = == = = =q qt t t tq q q q ttt Ni suy ng bc nht bng cc on parabol: Mt trong nhng dng n gin nht ca qu o tay my gm cc on thng, ni vi nhau bng cc on parabol ti cc im cht. GistrnquocNimcht,ngvithiimtk,ti bin khp t gi tr qk vi k = 1N. Qu o nguyn thy gm cc onthngnivinhauticcimcht.mbotnhlintc ticcimcht,ngchuynngcnibngccon parabol. Vn tc v gia tc ti cc im cht c tnh nh sau: Trong , vn tc bng qung ng di chuyn chia cho thi gian, gia tc bng s gia vn tc chia cho s gia thi gian (o hm ca vn tc theo thi gian). Cc i lng sau y i hi bit trc. kk k k kkkk kk ktq qqtq qq'' '"', 1 1 ,11, 1A=A= +k k k kt t t = A+ + 1 1 ,1 ,'+ k kqkq"1 ,'+ k kql khong thi gian gia hai v tr qk v qk+1; l vn tc khng i ng vi khong thi gian l gia tc tng ng vi on ni parabol v khong thi gian;4.1.2. Qu o trong khng gian cng tc: Qu o trong khng gian khp m t din tin theo thi gian ca cc bin khp q(t), sao cho phn cng tc di chuyn thng t im u n im cui ca qu o hoc i qua cc im trung gian. Thc t khithitkquotrongkhnggiankhpkhcthmbo chuyn ng chnh xc ca phn cng tc do nh hng phi tuyn ca vic chuyn i cc quan h ng hc t khng gian khp sang khng giancngtc.Munchophncngtcdi chuyntheongltrnh nh trong khng gian cng tc cn thit k qu o trc tip trong chnhkhnggianny.Quocthxclpbngcchnisuy ng dch chuyn qua cc im cht hoc xc lp bng gii tch hm chuyn ng. Nhim v ca vic xy dng qu o trong khng gian cng tc l quylutbinthincabinkhptrongkhnggianthcphic chuynivquylutbinthincabinkhptrongkhnggian khp iu khin ng c lm vic. Qu o ca robot trong khng gian cng tc xy dng thng qua vic gii bi ton ngc ng hc. y chnh l chun u vo ca h iu khin, ngi ta dng php vi ni suy ng thng tng tn s cp nht chun u vo ci thin c tnh ng lc hc ca h thng. 4.1.2.1. Cc nguyn t ca ng dch chuyn: Mt ng dch chuyntrongkhnggiancth tham sha theo mtsbinchntrc.Gisplmtvct(3.1)vf()lmt hm vc t lin tc trong khong, xt phng trnh: Khi thay i trong khongth tp hp cc gi tr tng ng ca p hnh thnhmtng trong khnggian, phng trnh ni trn chnhlphngtrnhthamscangcongbiudinquo chuyn ng trong khng gian cng tc, trong i lngl tham svhng.Khitngimpdichuyntrnquotheomt hng nht nh. Gi s giim pi c nh lm gc, gi s l di cung tnh t pi ti p. Mi im p trn qu o ng vi mt ta s, v vy s c th dng nh mt tham s ca ng dch chuyn: P = f(s) o) (o f p =| |f i o o ;o | |f i o o ;ooXt mt ng G biu din theo tham s (s) nh hnh v:

t0z(G)xyOPiPfnbpHytngtngrngng(G)cmtctngangvunggcvi ng tm ca n ti p l mt mt phng, php tuyn ca mt phng tipltiptuynt,chiucatlchiutngcathamssit pinitial n pfinish, mt phng mt tip (O) l mt cha t vln cn ca (G) pha php tuyn t.Phngcavctphptuynchnhnlgiaotuynca mtphngnhntlphptuyn,vimtphngmttip, chiu ca n sao cho t, ln cn ca (G) pha sau t, v n cng pha. Vc t b, trc th ba ca h quy chiu xc nh theo quy tc bn tay phi. Theo nh ngha v ta s ca im p trn ng (G), ta c cc quan h sau: ===n t bdsp ddsp dndsdpt.12222Sau y l hai phn t hnh hc in hnh thng s dng trong xy dng qu o. on thng trong khng gian cng tc: Xt on thng ni hai im pi v pf. N c biu din di dng tham s bi phng trnh sau: (dng tng qut ca phng trnh tham s ng thng x = x0 + a.t y pi ng vai tr mt im u ca ng thng, s l tham s nh t, l cosin ch phng ca ng thng, hay quen gi tt l vc t ch phng). Ch rng: p(s = 0) = pi vp(s =) = pf.) ( ) (i fi fip pp psp s p + =i fi fp pp p on thng trong khng gian cng tc: Xt on thng ni hai im pi v pf. N c biu din di dng tham s bi phng trnh sau: (dng tng qut ca phng trnh tham s ng thng x = x0 + a.t y pi ng vai tr mt im u ca ng thng, s l tham s nh t, l cosin ch phng ca ng thng, hay quen gi tt l

vc t ch phng). Ch rng: p(s = 0) = pi vp(s =) = pf. V vy hng ca ng thng l i t pi n pf. H s gc ca ng thng xc nh bi: Bn knh cong ca ng thng xc nh bi: iu c ngha l tn ti v s mt phng mt tip, vy khng th xc nh h ta (t, n, b) mt cch duy nht. i fi fp pp pi fi fp pp pdsdp=022=dsp d ng trn trong khng gian cng tc: Gi s c ng trn trong khng gian nh hnh v: Trong vc t n v r nm theo trc ng trn; Vc t v tr d m t mt im nm trn trc ca ng trn; Vc t pi m t v tr ca mt im nm trn ng trn. Khiu,nupikhngnmtrntrc,nghalngtrn khng suy bin thnh mt im th iu kin sau y phi c tha mn: Khi c th xc nh tm ca ng trn thng qua vc t sau: Cnbiudinngtrndidngtacas.chohmny ngin,cnchnmthtathchhpOxyz.TrongO trng vi tm ng trn; trc x hng theo chiu vc t (pi c), trc zhngtheor, cnycxcnh theoquytcbntayphi.ta captronghnytngtnhxcnhphngtrnhthams ng trn trong ta cc: d pi = oo o o o s = ) ; cos( r r rT Tr r d cT) (o + =((((((((

=0) sin() cos() ( 'sss p Trong l bn knh ng trn v im pi l gc ta .Khi thay ih quy chiu phng trnh biu din ng trn tr thnh: Trong R l ma trn quay ca h ta O so vi h ta O. Biu thc ca vn tc v gia tc di dng hm s ca ta s nh sau: c pi = ) ( ' ) ( s Rp c s p + =((((((((

=((((((((

=0)ssin(1)scos(1Rdsp d0)pscos()pssin(Rdsdp224.1.2.2. V tr v hng trn qu o: Qu o trong khng gian cng tc m t bng hai yu t l nh v v nh hng,c th m t c hai yu t ti mi mt v tr thng qua vc t: V tr ca phn cng tc: Gip=f(s)(3.1)lvctbiudinngdchchuyn(G)di dng hm cata(s). Gc ta ca phn cng tcdi chuyn t impinimpftrongkhongthigiantf,.ngintgc ta ti im pi hng ca (G) i t pi n pf. Ta ca im p bt k trn (G) chnh l di cung (s) tnh t pinitial n p. Ta ny l mt hm biu din theo thi gian t, hay cn c th vit c s = s(t). V p = f(s) nn tnh c vn tc di chuyn trn ng (G) bng cch tnh o hm bc nht ca p theo (s): ((

=pxt sdsdps p ' ' ' = =Trong t l vc t tip tuyn ca ng cong ti p. Nh vy, s biu dinlncavctvntctip.Gitrcacapbinthint0 (thi im u t = 0) bin thin theo quy lut hnh thang, ty theo chng ta s dng php ni suy bc ba hay bc nht v tr li bng khng khi t = tf. iviccquothngsdnglngthngv ng trn th cch tnh vn tc v gia tc c th nh sau: Nu qu o c dng ng thng: Ln lt ly o hm bc nht v bc hai: ) ( ) (i fi fip pp psp s p + =t s p pp pspt s p pp pspi fi fi fi f" ) (""' ) (''= == = Nungdch chuyn l ng trn biu din biphng trnh ni mc trc,ln lt ly o hm theo thi gian, ch rng s = s(t) ta c: Ch rng vn tc c hng tip tuyn vi qu o ti im ang xt. Cn gia tc c hai thnh phn l tip tuyn v hng tm.(((((

+ =((((((((

=) cos( "1)) sin( ' () sin( "1)) cos( ' ("0) cos( ') sin( ''22 ssssssssR ppssssR pHng ca phn cng tc: Hng ca phn cng tc nh nghin cu trong chng 2, c m t thng qua nh v v nh hng ma trn quay ca h quy chiu a phng gn vi khu chp hnh so vi h quy chiu c s gn vi gi. Hng ca phn cng tc c th m t thng qua cc ma trn quay, trong ch rng ba ct ca ma trn quay c 3.3 = 9 thnh phn ca cosin ch phng, chng khng c lp tuyn tnh nn xc nh 9 thnh phn ny l khng cn thit. Vic m t nh hng y da trn cc php m t hng ti thiu (MRO) nh php quay RPY hoc EULER. nhhngcaphncngtccmttivtruvvtr cui ca qu o, ti cc im trung gian c tin hnh ni suy bnh thngnhnisuyccthngsnhv.Hmnisuycnglcc hm bc ba hoc hm bc nht nh thc hin i vi v tr. Nh chraccphntrcvntcgccquanhtuyntnhvio hm bc nht thng s m t gc quay , l mt hm lin tc theo thi gian. C ngha l nu gil gc m t hng ti thiu ti im u v im cui ca qu o theo th t , cng thc ni suysthayinhhngcakhu,vntcthayi,giatcthay itimuchotrc,nimcuichotrcnhhngnh sau: finish initial ; Mtphngphpnamtsthayilintccaccthngs trong b thng s nh hng ti thiu, l vn dng ma trn bin i quayquanhmttrcbtk.tngcaphngphplnucho trc nh hng ban u trong ma trn Ri, v cho trc nh hng khi kt thc lm vic l Rf, ta tng tng khu chp hnh bin i v tr lin tc t Ri n Rf th tn ti mt ma trn chuyn tng qut RT c gitrthayititngimtrnquo,saochohthcsaulun c tha mn: ) ("") ('') (i fi fi fi fi fi fisss ==+ =iTfR R R =Vic xc nh ma trn RT thc hin bng cc thut ton ngc ng hc. 4.2. iu khin chuyn ng: 4.2.1. iu khin qu o trong gian khp: ybitonnghcngccgiitrcchun cc thng s t khng gian cng tc sang khng gian khp. Xem lc sau: Mchiukhinnhngitrtcaccbinkhp(c thquahschuynino)viukhinkhptheo stdintinthigiancabinkhp.Mchiukhinny n gin song chnh xc b hn ch do i tng b gim sttrctiplphncngtclinmngoimchiu khin. 4.2.2. iu khin trong khng gian cng tc: Nhntrctipthngscakhnggiankhplmsliu u vo, bi ton ngc c gii trong mch phn hi. S ny c hai nhc im c bn l h iu khin phc tp hn.Thhaihthngothnggnlncccckhp, gimsttrctipccthngscakhp.Munchuyn chng sang khng gian cng tc th phi thc hin cc php tnhnghcthun,cnglnguynnhnphtsinhsai s. Chng 5: Thit k v la chn robot(7 tit) 5.1. Cc thng s k thut ca robot cng nghip: 5.1.1. Sc nng ca tay my: l khi lng (kg) m robot c th nng c (khng kttrngbnthncacckhuthuccnhtay)trong nhng iu kin nht nh, v d khi tc dch chuyn cao nhthockhitmvilnnht.Nurobotcnhiutayth l tng sc nng ca cc tay phi hp vi nhau, thng s nyquantrngviccthngsvnchuynlprpCc robotcscnnglnthngdnghtruynngin hocthylc,khuynhhngsdngngcinngy cng tng, truyn ng kh nn thng ch p dng vi cc tay my i hi sc nng di 40(kg). i vi mt s kiu robot ngi ta cn quan tm n lc hoc m men ln nht m cnh tay hoc bn tay c th to ra. 5.1.2. S bc t do ca phn cng tc: l tng s cc ta m phn cng tc c th dch chuyn so vi thn robot. S bc t do cng ln th hot ng ca robot cng linh hot nhng iu khin n cng phc tp, thng k thc t cho thy phn ln robot c 4 5 bc t do. Vphnkpkhngctnhvobctdo,trnthctbc t do c to ra bi hai phn chnh l cnh tay v c tay. Cng thc tng qut tnh s bc t do ca mt cu trc l: DOF = 6n i.ki Trong n l s khu chuyn ng c ca cu trc, i l s khp loi i. phhpvdnngcckhpkhnggian(khpcu, khptr..)ctothnhbngcchphihpcckhploi5, nh vy vi chui ng h s khu bng s khp v bng bc t do. Nhn nh ny ch ng khi cc iu kin nu trn tha mn, ch khi vn dng. 5.1.3. Vng cng tc: Vngcngtchayvnglmvicdintkhnggian quanhrobot,ltphpnhngimmbnkphay dng c trong bn kp c th tha mn ng thi c nh v v nh hng ti im bt k thuc vng . i khi ngi tacnghiulchcntcnhv.Khininvng lm vic ngi ta ni n hai yu t, l hnh dng ca n v cc kch thc c trng m t vng . Kch thc ca vng lm vic khng ch ph thuc vo kch thc cc khu m c th t chuyn ng ca cc khu. Mtthngskhclinquannvnglmvicltm vi ca cnh tay, tm vi tng mc mt n nh cng gia tng, ng thi chnh xc gim. Vnglmviclmtminlintcsongtrongli chanhngimmkhutcngsaucngkhngth vn ti do cc gii hn v kt cu, thut ng chuyn mn gi cc im ny l l trng. 5.1.4. chnh xc nh v: chnhxcnhvthhinkhnngitngt cchnhxctiimch.lmtthngsquan trng,nhhngnsthaotcchnhxccaphncng tcvkhnngbmquocan.ivithitbiu khin s, chnh xc nh v lin quan n hai vn , phn gii iu khin v chnh xc lp li. 5.1.5. Tc dch chuyn: Xt v yu t nng sut ngi ta mong mun tc dch chuynnichungcngcaocngtt.Tuynhinvmtc hc, tc cao s dn n nhng vn nh gim tnh n nh, lc qun tnh ln, cc c cu ma st mn nhanh hn.Xtvmtiukhinviphngiisnccab iu khin, khi tng tc dch chuyn c th lm gim chnhxcnhv.Vvyvnchntcdchchuyn hp l cng t ra khi thit k v la chn robot. 5.1.6. c tnh ca b iu khin: Robot l sn phm c in t nn ngoi khu khp cn c b no ca robot l cc thit b iu khin. Kiu iu khin: c hai kiu iu khin hay dng nht cho RBCN l iu khin im -imviukhincontuor.iukhinim-imthngdngchoccrobot hn im, tn inh, vn chuyn. iu khin contuor dng cho cc robot hn ng, phun sn, to mu Dung lng b nh: B nh trn robot hin i chia lm hai phn: Bnhhthnglutrccphnmmhthng,phnmmcngdngchung nh h iu hnh, d liu my, cc m un chng trnh tnh ton ng hc, ng lc hc. B nh chng trnh dng l tr cc chng trnh ng dng do ngi dng to ra. Thng b nh chng trnh l RAM, dung lng ca n l mt thng s ng quan tm. Giao din vi cc thit b ngoi vi: Cc thit b ngoi vi l cc thit b m robot phi phcvhayphihplmvic.Chnghnmycngc,phngtinvnchuyn nhbngti,mngti,thitbolng,hocccthitbhinth,innnhpd liuHuhtccrobotphcvtrongdychuynckhnngghpnitrongh CIMthngquagiaodintruynthngchun.iunycthgipmrngkh nng cng ngh vn c ca robot ra ngoi c tnh chun ca n, thng qua vic xy dng d liu bng ngn ng chun ca nh sn xut sau kt ni vo t bn ngoi. Cc tin ch: Tin ch ca robot bao gm lp trnh c tr gip ha, h thng dy - hc, m phng gia cng. Nhng tin ch ny lm cho robot thn thin hn vi ngi s dng. 5.2. Thit k v t hp robot: Thit k robotgm hai mng cng vic chnh,thit k cu trc c kh v thit k phn iu khin. Thit k cu trc c kh cng tun th cc nguyn tc chung ca thit k my. Nhn chung cc bc t do dn ngclp,sdngccngundnngtiuchun.Nhngiu ny l iu kin thun li xy dng cc mun c kh chun. Cc m un quay thn, m un c tay, m un nng h cnh taytrn c s cc robot c chc nng v hnh dng vng lm vic c to ra bng cch ghp cc m un c chc nng v cng sut tng ng vi nhau. Xutphttyucucngngh:Robotctnhvnnngsongmi robot c thit k v ch to trc tip thc hin, hoc phc v cho mt qu trnh sn xut c th. V vy cc thng s k thut ca robot phipngcccyucucngnghcaqutrnhsnxutc th.Mimtqutrnhcngnghccimring,cnnghin cu k trc khi bt tay vo thit k. mbosngbvihthng:Robotphilmvictrongh thngcngnghcngviccitngkhc,nnchngphilm victheongnhpcthphihptheong.Vvy trng thi ca robot cng nh cc i tng khc phi c gim st thng xuyn, thc cht y l ni dung nm trong thit k phn iu khin. Chn kt cu in hnh: Tng t nh thit k my, qu trnh thit k robot cng c tnh k tha, cn c trn mu cc thit k c, cc kt cuinhnh,lmvicnnhmkhngcncitinsaig hnnascgili.Sphttrincao cakthutnyl tora ccmuntiuchun.Khicnc mtrobotmi,sthpccm uncchcnngvcngsutphhpvinhaupngtc xy dng thit b. mboshahpgiarobotvmitrng:robotbnlu, hiuquantonvtincythcnphilmchogiaccitng nycshiha.Hoccitomitrngnhlcbi,iuha khng kh v m, thng gi, hoc bo v robot lm kn, cch li, lm mtccbchorobotkhicctcngbtlicamitrng.Cc thit b in t cng nghip ngy nay c thit k chuyn dng nn c thch nghi rt cao vi mi trng. S ha hp gia robot vi ngi dng: p ng tiu ch d s dng, thm m cng nghip. Thit k c nh hng sn xut: Ni v tnh cng ngh trong ch to, hay c th l tnh cng ngh trong kt cu. 5.2.2. Cc bc cn thc hin khi thit k: Robot l mt my t ng kh trnh, l sn phm in hnh ca c in t. V nguyn tc thit k ging nh thit k my v c bn. 1.Phntchqutrnhcngnghxcnhkhunocnphisdngrobot, ch cc cng on c iu kin lao ng khc nghit, cc cng on lp i lp li n iu. S b nh gi hiu qu s dng robot vo khu . 2.Nghincuccthngsktcucaitngdnhsxlbngrobot, nh hnh dng, khi lng, trng thi vt l, s phn b khi lng ca vt th. 3. Nghin cu iu kin mi trng s dng robot nh nhit , bu, rung ng, kh nng gy chy n. 4. Xc nh cc thng s k thut chnh ca robot theo yu cu cng ngh, t tnh ton cc ch tiu kinh t k thut, la chn cc ch tiu kinh t, k thut ph hp. 5. Phn chia kt cu thnh cc cm c cu chnh. Xc nh cm no c kh nng trng vi cc m un c sn, cm no c th s dng cc thit k tng t, cm no phi thit k ch to mi hon ton. Phn chia nhim v cho cc cm chuyn nghnh ph hp. 6. T hp h thng, th nghim trn m hnh. Trong giai on ny nn s dng cckthutmphng,mhnhhatrnmytnhgimchiphvthigian th nghim. 7. Ch th, th nghim robot trong phng thit k v trong sn xut. 8. nh gi kt cu v tnh nng k thut, cng ngh ch to v tnh kinh t. T xut cc bin php hon thin kt cu v cng ngh ch to. 5.2.3. Thit k theo phng php t hp mun: Mcchcaphngphpthpmun,llmgimthigianchunb snxutkhicyucuthayithitbcngngh.Datrnnguyntctiu chun ha kt cu cc cm c cng dng chung, c ngun dn ng c lp, c mt lp ghp tiu chun. Trong tng kiu mun li c nhiu gam ng vi cng sut khc nhau ng dng cho cc mc tiu khc nhau. V c bn c th ch to thm cc chi tit ph khc nn c th hon thin thit b vi tnh nng nng mi trong thi gian ngn nht. Thit k theo phng php t hp m un c cc u im chnh nh sau: Gim thi gian thit k v ch to, v s dng cc bn thit k c sn hoc cc cm ch to c sn trn th trng. Nhim v ca ngi thit k mi ch l t hp cc cm c chn theo yu cu thc t v ch to b xung cc chi tit ph. Thamn cc iu kin lm vic tiu chun vi kt cu n gin, s dng cccgiiphpktcutiu,tphmphiccktcuvchcnng tha. Khi thay i yu cu cng ngh. Nng cao cht lng v tin cy ca thit b, v cc cm tiu chun c ch to vi cht lng cao, c th nghim ti cc c s chuyn mn ha ckinhnghim,cutyccthitbgiacngvthnghim chuyn dng. Gimgi thnh thit b v cc cm c sn xut vi tnh lot cao. Vccmunctiuchunhacaonnnhiurobotscngsdng chungmtsmunnoy,iunytosthunlikhibotrbo dng, sa cha, thay th v sau. Nhc im c bn ca phng php t hp m un l kh tha mn cc yu cu c bit. C mt s trng hp lm cho thit b cng knh, nngn,tnhnngkthutkhnghpl.mtkhcphitnkmrt nhiu cho s thng nht ha tiu chun ha kt cu. S tiu chun ha kt cu nhm gim s lng chng loi sn phm nnlunlunmuthunviyucuadngvyucusdng chng.Mtkhcsphttrinkhngngngtrongkthutvtliu, trnh thit k, cng ngh ch to lun lun c xu hng ph v tiu chun xy dng. La chn ch tiu tiu chun ha v thng nht ha l iu kh kh khn, i vi robot ngi ta da trn cc ch tiu sau: - Theo tnh nng: Robot trong cc gam khc nhau c th khc nhau v sc nng khi cng kt cu, c th khc nhau v tc dch chuyn, cthkhcnhauvchnhxcnhvtngtngitacng phnchiarobottheokiuiukhin,vdiukhinim-im, iu khin contuor. -Theochcnng:Thngnhthavtiuchunhacccmc chcnngcbnnhcmtorachuynngthng,torachuyn ng quay, cm bn kp, cm c chc nng o lng - Theo cng ngh: Thng nht ha v tiu chun ha theo iu kin s dng, v d robot phun sn, robot hn, robot lp rp 5.3. Mt s kt cu in hnh ca robot: minh ha cc quan im trn trong mc ny s gii thiu mt s kt cu in hnh ca cc tay my cng nghip, do cc nc tin tin trn th gii thit k v ch to. Cc kt cu ny c th k tha trong cc thit k v sau nu thy khng c vn g cn ci tin sa i. 5.3.1. Robot c nh trn nn dng h ta cc v ta tr: c trng ca phn to ra ta tr l kt cu dnhngtheophngthngng,phncnh tayctmvithayitrongmtphmvihpva ckhnngthayicaocamtphnglm vic, nu khng k cc bc t do khc vng lm vic torabiktcunychlmthnhchnht hngtmtrongmtphngthngng.Mttr c to ra ton b hoc mt phn ty theo kt cu ckhcthnhchuynngquaytonbphn dn hng thng ng. 5.3.2. Rbot c nh trn nn dng h ta cu: Khp cu c to thnh t ba khp quay c ng tm giao nhau, in hnh cho kt cu ny l c tay robot kiu cu: C cu c ba bc t do vi truyn ng vi sai kh khe h b truyn, mi mt chuyn ng chp hnh l h qu ca vic tng hp chuyn ng t hai ngun cng quy lut truyn ti c tc dng to ra chuyn ngvnngcnhauhaikhungtrc.Bachuynngcbn khu nn (1, 2, 3, B). Tm ca khp cu l giao im ca 8 bnh rng cnnhlc.ktcunylmviccncphnngmch mang cc c cu vi sai na. Phngphptoratacuthhai,lkthphaichuynng quay trng tm vmt chuyn ng tnh tin hng knh qua tm quay . 5.3.3. Robot treo: Robot treo c lp v chuyn ng trn cc ng ray trn khng, u im ca chng l khng chim din tch sn xut, t cn tr hot ng ca cc thit b khc v c vng lm vic rng. Cc robot treo c thvnchuynnguyn vtliu, thitbtrongtngphnxnghoc gia cc phn xng. Chng c th phc v nhiu thit b khc nhau trongdychuyn,cthsdngchngvoviclprp,phunsn hochnCcrobottreocthphnrahailoi,chuynngtheo mtphng(kiupalng),hocchuynngtheohaiphng(kiu cu trc). 5.3.4. Robot c iu khin thch nghi: Robot thch nghi l robot c kh nng t phn ng c li trc nhng din bin bt li ca mi trng m ngi lp trnh khng lng trc c, h iu khin ca robot treo thngcxydngtrncsiukhinm.Sphn ngcarobotdavoccthngsoccami trng, v d v tr, tnh cht vt l ca i tng, hoc da vo trng thi cc c cu trong robot. Trong trng hp ny chng trnh iu khin ch nh hng s b cc hot ng carobot,chnhnsphitmhiuvchnhxchacc hotngcamnhtrncsphntchccthngtinthu nhnctmitrng.Nhkhnngthchnghim robot kiu ny c th lm c nhng vic m robot thng thng khnglmc,chnghntmkim,lprp,thay i lc kp ph hp Phn ln cc robot thng thng u c th tr thnh robot thch nghi nu trang b cc sensor thunhnccthngtinvmitrng,chngtrnhphn tchthngtinthucvraquytnhvithngtinthu c. Ccrobotsauycthcmnmcnhngvtkhc nhau v hnh dng v kch thc l do cm bin lc gn vi ngn tay iu khin. 5.4. C cu tay kp: Phn cng tc ca robot rt a dng, trn cc robot chuyn dng th phncngtccnglthitbchuyndng.Vdmhn,mct, sng phun sn, cha vn vt, bn kp. Trn cc loi robot vn nng thng l robot lp rp, vn chuyn, xp d th phn cng tc c chc nng nm gi v thc hin cc thao tc khc nhau vi i tng (xoay, nhc, lt, th..), nu khng cp n s khc bit v kt cu m cn c vo chc nng chnh ca chng, ta gichungltaykp.Cchnhnhsauminhhaccktcutn gin n phc tp ca b phn ny. minh ha y v chi tit hn ton b kt cu v dn ng ca mt robot, xem bn lp tng th th hin di dng 3D mt robot 5 bc t do c bn kp truyn ng c kh nh sau:Di y l bn lp ca phn cnh tay v truyn ng ca n: Kt cu lp ng c vi phn quay thn robot: Kt cu lp ca cc ng c, cc b truyn v phn c s ca robot: 5.4.1. Khi nim v phn loi tay kp: Taykpcarobotlphntngngvibntaytrn cnhtayngi,cchcnngthaotctrctipvii tngcngngh,cthltcnglnitngthay i v tr, nh hng ca i tng t nhng mc ch cng ngh xc nh. Taykpcphnloitheonhiuctrngkhcnhau nhtheocngdng,theophngphpgivt,theotnh vnnng.Chngtaquantmnccctrnglinquan trc tip n kt cu nh sau: Theo nguyn l tc ng c tay kp c kh, chn khng, t trng, tnh in Theo kh nng iu khin, c tay kp khng iu khin, iu khin cng, iu khin thch nghi. Theo ngun nng lng c cc loi tay kp c dn ng v khng c dn ng. 5.4.2. Kt cu ca tay kp: 5.4.2.1. Tay kp c kh: lloitaykpgi,dichuynitngbngccmkp, mc, cng, tm (xem cc minh ha phn trn). Tay kp khng c iu khin dng cc loi m, nhp, chu kp vt nh tc dng ca l xo hoc nh lc n hi ca chnh cc chi tit tronghthng.Ktcucaccloikpnyrtngin,chng khngcngundnngring,khngcccuhmnnlckp dao ng theo kch thc ca i tng. V vy chng thuc loi tay kpchuyndng,cthitkchotngloiitngcth,vi phmvithayikchthchp.Docccimnutrn,chng cdngchyutrongsnxuthngkhi.Xemminhhaccu ny nh sau: m bo lm vic tin cy v n nh ngay c khi c bin ng kchthccaitng,taykpcbxungccuhm,vd nhccminhhadiy.Nhcccuhmmtaykplm vic vi hnh trnh kp v nh rnh mch hn d vn khng c ngun dnngring.Cctaykpdngvivttrnxoaynhhnhv(), lc kp c to ra di tc dng ca trng lc, tm nm 4 tc ng ln ui ca cc m kp 1. Khi t vt xung, nm 4 tin gn n vt, haimkpcgiiphng,vtcnhraditcdngcalc ko t l xo 13. Ch ti c cu hm, n gm thn 7 gn lin vi cn 5.Chthm10gntrncn12nhngcthquaytdotrn. Trong l ca thn 7 c lng 2 bc khng quay c 8 v 9. Bc 8 c ccvuphadi,bc9ccvu trnvdi.Ccvunykhin khp v trt tng i vi cc vu trn cht 10 s lm quay cht 450. Trong hnh trnh nh, thn 7 tin gn n u 3, cht 10 tip xc vi bc 8, quay 450, khi i xung tip xc vi mt trn ca bc 9 li quay tip 450 v b mc trong l. Hai m kp b gi trng thi nh. Trong hnh trnh kp, sau khi cht 2 tip xc vi vt, u 3 v thn 7 tingnnnhau.Cht10tipxcvibc8,bquay450.Khii xung cht 10 li tip xc vi bc 9, b quay tip 450 na. Kt qu l cht lt qua c rnh v lt ra khi l. Cc m 1 c kha trng thi kp. 12345678910111213 kp cc chi tit c dng bnh rng, bc, a t th thng ng thngsdngloitaykpcnguynlhotngtngtvikt cu nh sau: Hai loi tay kp trn c dng trong sn xut lot ln hng khi, nhcccvttrnxoaykhilngkhngqu30(kg),kchthc khngcdaongqu0,5(mm).Chngccoiltaykpc phm vi cng tc cng. Loitaykpcphmvicngtchpchophpsaiscamtc kpti1,52(mm),trongktcuminhhadiy,nkpvo mt tr trong ca l bnh rng nh vo dy bi 2, xp theo vng trn. Mt cn 1 c gc ma st nh hn gc ma st gia cc vin bi v vt liuchitit(thngt5060),torachuynngkhinhcvt (chuyn ng ln) v nh vt (chuyn ng xung). 321 tng tin cy khi kp v nh, c lc kp ln, phm vi cng tc ln, ngi ta dng tay kp c dn ng.Ngun ng lc l ng cthy lc hockhnn. Di y l hnh minh ha ccu tay kp c truyn ng thy lc, s dng hai cng kp. M kp c th thay th c v vy c th kp vo mt trong hoc mt ngoi ca i tng. iu chnh khong cch gia hai m kp trong phm vi khng ln lm, c th s dng kt cu cng kp quay quanh tm nh vt iu chnh nh s di y: Sau y l cc c cu tay kp vi truyn ng kh nn. Cc tay kp cmkpthayicdngviccbmtkhcnhauvhnh dng v kch thc. Ccuhnhbnhhnhcsdngduytrsongsonghai m kp, khi kch thc vt kp thay i trong mt phm vi ln. Thaychodngccutayn,cngkp,trnnhiutaykp ngitadngccuthanhrng,trongccuimkpcdng qut rng. u im ca c cu ny l gn, lm vic tin cy. Cc s trnhnhvcngbiudinccdngmkptnhtm.Chngc thlmvichaivtr,vdvtrkpphivvtraphivo mm cp my tin: 5.4.2.2. Tay kp chn khng v in t: Ktcucahaikiutaykpnycthhinnhhnhvdi y.Cckiutaykpnydnglchtchnkhng(hoclct) nhc v di chuyn i tng. Trong mt vi trng hp, ngi ta cn dngclchttnhin.uimchnhcalaitaykpnylc kt cu n gin, c th dng vi cc loi b mt hay cc loi vt liu m tay kp c kh kh p ng, v d chi tit phng, mng nhng rng nhtmtn,hocgiymng,hnhdngchititphctp,vtrca chititthayingunhin.Tuycnhiuimgingnhausongc cukpintvkpkhnncnhngcimkhcnhauvs dng thng k trong bng sau: 5.4.2.3. Tay kp dng bung n hi: Bungnhithngclmbngcaosu,chtdo.Lckp sinh ra do s bin dng ca bung n hi di tc dng ca kh nn hoc th lc. Hnh v di y minh ha cho kt cu v nguyn l lm vic ca tay kp kiu ny. Cc chi tit c th c nh v v kp cht mt tr trong hoc mt tr ngoi nh bung n hi hnh tr, cng c th nh v bng khi V v kp cht bng vng m n hi. 12345LDD1D2123456LDD1D212345LGB5.4.2.4. Tay kp thch nghi: Trncctaykpkiunyngitalptccsensorthunhn thng tin v s tn ti, v tr, hnh dng, kch thc khi lng, trng thi bmt,musccaitngrobottngtmcchxlthch hp. Chng hn nhn hay khng nhn, thay i ni chuyn n, thay i v tr v lc kp. Trn hnh v minh ha tay kp kiu Anthropomorphic (tayngi)c4ngnkp,cci nivibntaybng cht,ccngn c th co dui nh tay ngi. Trn cc ngn tay, lp mu ti l cm bin c gn vo ngn tay l im trc tip tip xc vi i tng thao tc ca robot. Cc cm bin c dytruyntnhiuvcmiukhintrung tmxl.Robottch c c bp, pht trin n ch c thn kinh nh con ngi gi l robot phng sinh. 5.4.3. Phng php tnh ton tay kp: 5.4.3.1. Tnh ton tay kp c kh: - Tnh lc tip xc: Lc tc dng ti im tip xc gia m kp v i tng cxcnhvihaimcch:lckpngthi khng lm hng b mt c kp. Trong phn ny s dng cc k hiu sau: Q - ti trng tnh tan; C-Khongcchtimtimttinmkpang xt; L Kch thc tay kp; Rn - Phn lc trn m kp th n; - Gc gia trc phi v lc Rn; Ni - Lc tip xc gia m kp v vt; -GcgiahnhchiucalcRnlnmtphngvlc Ni; - Gc ma st gia vt liu m kp v vt liu vt kp. uiCc tnh ton da trn cc nguyn tc nu trn, kt qu cho mt s dng tay kp in hnh th hin nh sau: Trng hp a, chu lc i xng:

Trng hp b, chu lc khng i xng:Hnh aLcR1 R2 QHnh bcLR1QR2QR1LcR2Qlc lR=1QlcR =2Qlc lR+=1QlcR =2 cim:itngcbiccukpnnlcmastnh hng rt t n lc kp. Vi khi V thng ng to lc p t hai bn, va nh tm, va kp cht nh hnh v: Lin h ton hc gia cc i lng c mt trong m hnh: Trong i, j, k = 1, 2, 3 Vi i, j, k khng trng nhau.N1N2N3Rn0123)] sin( ) sin( ) )[sin( 1 () sin( ) 1 (cos)) cos (cos sin (sin sin1 3 3 2 2 1221 u u + + = k jn k j k jR N cim:itngcbiccuhmnnlcmastnh hng nht nh n lc kp VikhiVnmngangvanhvvakpcht,trnglctheo phng thng ng: Trong trng hp ny Trong i, j, k = 1, 2, 3 Vi i, j, k khng trng nhau. N1N2RnN3213) sin( ) sin( ) sin() sin(RN ; 01 3 3 2 2 1k jni0 + + = = u c im: i tng c gi bi lc ma st, nh hng ca lc ma st n lc kp rt ln. Trong trng hp s dng c hai khi V nh hnh v: Cng thc xc nh cc phn lc: Vi i, j khng trng nhau. Trong i, j, k = 1, 2 N1 N2Rn1221N1 N2Rn) cos( 2 ) sin(cos sin2 1 2 1 + +=j jn iR N cim:itngcbiccukpnnlcmastnh hng rt t n lc kp. Khi vt kp c nh v bng khi V, gi bng c cu hm: Cng thc xc nh phn lc: N22RnN11;sin 2 cos1;sin 2 coscos sin;; 9021201 +=+===nnR NR N cim:itngcbiccuhmnnlcmastnh hng nht nh n lc kp Khi vt kp c gi bng hai tm phng da vo ma st: Cng thc xc nh lc kp: N1RnN2 2; 02 12 1nRN N = == = c im: i tng c gi bi lc ma st, nh hng ca lc ma st n lc kp rt ln. Tnh lc dn ng: Lc dn ng do c cu dn ng sinh ra, t ln u vo ca tay kp. Yu cu lc kp ln gi vt trong t th lm vic, thng qua cc quan h c bn ca c cu, cc c cu thng dng nh nm, n, thanh rng c tnh lc kp nh sau: Vi c cu nm: aib|pMjFi Ni Trng hp chung (dng nm mt bn) lc kp ti thiu tnh nh sau: Trng hp hai nm i xng,lc kp nhn i: Trong cc cng thc trn: m: S cng kp dn ng bng chm; l gc nm; khi dng trt,khi dng ln; pmjjbtg MPq |=+>1) (pjbtg MPq | ) ( 2 +>9 , 0 =pq08 4 = |' 10 10= Trng hp dng n kp: n kp c th c mt trong hai kt cu in hnh sau: Trng hp chung, c m n kp tc ng ln i tng ng thi: Trng hp c hai n kp, kt cu i xng: vi poMjNiFiaipNiFiaioMjpmjjbMPqo=>1cospjbMPqo cos 2>95 , 0 9 , 0 = qTrng hp dng c cu thanh rng: Trng hp c hai c cu ging nhau, b tr i xng: Trnghpchungcmnkpdnngbngqutrngthanh rng: pMjZc; mcNiFiZc; mcpMjFi Nia1p c cmjjz mMPq=>12p c cjz mMPq4>94 , 0 = q Cc k hiu dng trong mc ny: m:S lng m kp; Ni: Lc tip xc gia m kp v vt (N), tra bng k tip; Mj:Mmenkp(N.m)camkpthjtnhtheocng thc: k: S im tip xc; :Gcmastquyictnhnlccntrncc cht ca n; : Gc nm; : Hiu sut ca c cu; : Gc nghing ca n; mc ; zc : M un v s rng ca qut rng; = =kii i i i i i i i jtg c a c tg a N M1)] ( [ cos |pqo Tnh ng sut tip xc: Tnh ng sut tip xc l khng ch ng sut tip xc ln nht, nh hn gi tr ph hng chi tit ti im tip xc. Trong mt s trng hp, nht l khi kp nh lc ma st th ng sut tip xc kh ln. iu c th dn n ph hng chitithocmkp,nhtlccchititgiacngtinh. Cng thc tnh ng sut xy dng trn c s dng tip xc, din tch tip xc gia chi tit v m kp. rdLdLdLdrdrH-1H-2 H-3 H-4a H-4b hnh1,chititvmkptipxcng,ngsutphtsinhtnh theo cng thc: hnh2,chititvmkptipxc2ng,ngsutphtsinh tnh theo cng thc: hnhs4,tipxcimvtipxcngcong,ngsutphtsinh tnh chung nh sau: hnh3,chititvmkptipxcng,ngsutphtsinhtnh theo cng thc:)2( 418 . 0rld lNEq+ = o)2( 418 . 0rld lNEq = oldNEq2418 . 0 = o322rNEmq= ord Ra) s dn ti trng thi iu khin momen: 'cvvkK~ e)Kkv (kkCv'cilme ~ Mi quan h gia cc i lng vo (in p iu khin Vc, momenphnngCr)viccilngra,lvntcgc i vi iu khin vn tc: i vi iu khin momen: rl vm al va'cl vm avCk kI Rs 1k kRVk kI Rs 1kK++= ermmm'cmmm ilCFIs 1F1VFIs 1F kk++= e 6.2.2. iu khin ng c thu lc: Cc ng c thu lc u c iu khin bng cch thay i lu lng du qua bm. Bt k s khc nhau v cu trc vtl,ccmiquanhcbngialulngvpsut, chuyn ng ca cht lng v chuyn ng ca cc chi tit, s cn bng c hc ca cc chi tit u xut pht t o hm quan h vo/ra. GisQllulngcungcp,Qmllulngvo ng c, Ql l lu lng tn hao do lt du trn bm, Qc l lulngtnhaodotnhnnccadu,tanhnc phng trnh cn bng lu lng nh sau Q = Qm + Ql + Qc CcilngtnhaoQlvQcctnhnkhih thng lm vic di p sut cao, c hng trm atmosphe. GiPlchnhlchpsutgiauravuvoca bm do ti, ta c quan h Ql = klP Tnhaolulngdotnhnnccachtlngtlvithtch tc thi ca cht lng V vpsutP thngquahs nn v bin phc s: T tathy rng h st lkc = Vgiaohmtheo thigian ca p sut P v lu lng Qc ph thuc vo th tch V ca cht lng. Vvy,i vingcquaythkclhngs,cnivingc tnhtinthVthayinnphnngcahthngtuthucim cng tc. Lulngchtlngvongctlvilngbinthintrong mtnvthigiancathtchchtlngtrongbcha.Mtkhc lng bin thin ny li t l vi vn tc gc ca ng c. Cui cng nhn c: VsP Qc =e =q mk Q Cui cng th momen ca ng c t l vi chnh lch p sut ca bm: iu kin cn bng c hc ca cc chi tit chuyn ng c m t bng phng trnh : ivivaniukhin,hmtruyngiav trXcavanvin p iu khin Vc c xc nh nh sau: r m m mC ) F sI ( C + e + =P k Cl m =sscsT 1GVX+= 6.3. H thng cm bin 6.3.1. Khi nim v phn loi cm bin * Cc khi nim: Cmbinlthitbdngnhngitrcailng vtlcnovbininthnhtnhiumthitbo hay iu khin c th x l c. Nhvy,cmbinchaichcnng:cm,nghal nhn tn hiu cn o v bin, ngha l chuyn i dng v gi tr ca tn hiu sn sng cung cp cho thit b hin th hay x l tip theo. C nhiu i lng vt l, nh lc, rung ng,thnhphnhahc,rtkhotrctipmtmi cch chnh xc v r tin. Ngi ta phi chuyn chng sang i lng tng ng khc, thng l i lng in nh in p, dng in, in tr d s dng cc thit b hin th v x l chun, thng dng v r tin. Dng v gi tr tn hiu xut ra ca cc cm bin thng c chun ha d ghp ni vo cc mch x l tip theo. Cmbincnctnkhc,nhuo,sensor,...TcgcAnh sensor c ph cp rng ri trn th gii, k c trong cc ti liu xut bn Vit Nam. Sensor l tn gi chung ca Switch v Transducer. Switch l thit b ng m, thng gi l cng tc, ch c hai trng thi tn hiu ra l ngvm.Transducerlthitbbini.Tnhiuravtnhiu vo ca n c th khc nhau v gi tr bn cht vt l v gi tr, nhng khng khc nhau v quy lut bin thin theo thi gian. V d vi cng tnhiuvolpsutkhngkh,Switchctrngthingnup sut ppo, c trng thi m nu ppo cn Transducer th cho tn hiu ra l in p nhng khng thay i quy lut bin thin theo thi gian vn c ca tn hiu vo. * Phn loi sensor: Theo chc nng ngi ta phn bit 2 nhm sensor. Mt nhm dng gim st trng thi cng tc ca bn thn robot, c gi l sensor trong (proprioceptive sensor). Nhm th hai, c gi l sensor ngoi (heteroceptive sensor), dng o cc thng s ca mi trng v s tng tc ca robot vi mi trng. Ccloisensortrongchyul:sensorvtr,sensorvntcv sensor gia tc hay sensor lc. Sensorngoicrtnhiuloituthucthngsmitrngcn o, v d sensor nhit o nhit ca mi trng m robot hot ng,sensorlcolcnm(kp)catayhocnhvi tng (v d lng trc vo bc khi lp rp), thit b quan st (vision system) nhn dng i tng Ngoi cch phn loi sensor theo chc nng cn c nhiu cch phn loi khc nh: Theoilngcno,csensornhit,psut,vntc,giatc, lu lng Theoktcuvnguynllmvic,csensorintr,indung, in cm, p in, quang in, in ng Theophngthccmnhn,csensortipxc(tactilesensor), khng tip xc (proximity sensor). 6.3.2. Nguyn l lm vic ca mt s loi sensor * Cm bin v tr Cc cm bin v tr c dng gim st v tr tc thi caccccu.Tutheodngchuynngcnquantm mvtrcthctnhbngnvdihaynvgc. nh cc chuyn i c kh cn thit mc th dng sensor o gc o chiu di v ngc li. Cc sensor o chiu di c th l bin tr, bin th vi sai, encoder thng. o gc quay c cc loi sensor o gc, nh bin tr quay, encoder gc,resolver,Sauaynivhailoisensorthnggp nht l encoder v resolver. Encoderlthcovtrtheonguyntcs,trong tocmhotheohnhphn.Tutheonvo, chngtadngencoderthng(linearencoder)hayencoder gc (rotary encoder). Hai loi ny ging nhau v nguyn l lmvic,chkhcnhauchccvchckhctheo ngthnghaytheovngtrn.Theophngphpm ha,chailoiencoderltuyti(absolute)vgias (incremental). 6.3.2. Nguyn l lm vic ca mt s loi sensor * Cm bin v tr Cc cm bin v tr c dng gim st v tr tc thi ca cc c cu. Tu theo dng chuyn ng cn quan tm m v tr c th c tnh bng n v di hay n v gc. nh cc chuyn i c kh cn thit m c th dng sensor o gc o chiu di v ngc li. Cc sensor o chiu di c th l bin tr, bin th vi sai, encoder thng. o gc quay c cc loi sensor o gc, nh bin tr quay, encoder gc, resolver, Sau ay ni v hai loi sensor thng gp nht l encoder v resolver. Encoder l thc o v tr theo nguyn tc s, trong to c m ho theo h nh phn. Tu theo n v o, chng ta dng encoder thng (linear encoder) hay encoder gc (rotary encoder). Hai loi ny ging nhau v nguyn l lm vic, ch khc nhau ch cc vch c khc theo ng thng hay theo vng trn. Theo phng php m ha, c hai loi encoder l tuyt i (absolute) v gia s (incremental). Thcovtrtheogiasc1hoc2aquang,c khc cc vng trong v c xen k nhau. Nu dng mt a thncgnvitrcquay.Nudng2athmta gn vi trc quay, cn a kia c nh. Mt pha ca a t ngunsng,phaidint3conmtinthutn hiucatngvngtrn.Timtvtrnhtnhcaa, vng no cho tia sng i qua s c m ha l l, vng no ngn tia sng s c m ha l 0. S vng sng, ti trn a quyt nh phn gii ca encoder. Tithiimbtulmvic,hthngphicquy khng bng cch quay l st vng trn th hai ti v tr i dinngunsngconmtthbanhnthytiasng.Khi h thng bt u lm vic, mt b x l s m s ln con mt ngoi cng nhn thy tia sng, t tnh ra gc m a quay.Chiuquaycaacnhnbitnhsphi hp tn hiu ca hai vng: nu a quay theo chiu kim ng hthmtngoicngnhnthytiasngtrcmtthhai v ngc li. Cn c vo chiu quay m gia s s c cng hoc tr vo tng s. Thcovtrtuyti(AbsoluteEncoder)cmta quang, trn c nhiu vng trn ng tm. Mi vng cha cc vng trong v c xen k nhau. S vng trn quyt nh phn gii ca encoder. Nu s vng trn l n th s phn m mt vng trn c th c chia ra bng 2n, gc nh nht m encoder phn bit c l 360o/2n. V d nu s vng l n = 4 th s phn chia ca vng trn l 24 = 16, encoder s phn bit c gc quay 360o/16 = 22,5o. Nu n = 8 th gc l 360o/4096 = 0,088o. Resolverkhngphtratnhiusnhencodermphtra tn hiu tng t i din cho v tr ca i tng o. Nhn vbngoingingngcinnhngnguynllm vic ca n ging bin th nhiu hn. Cun dy rotor c cp in p xoay chiu thng qua cc vnh dn in. inpcungcpchorotorcdnghnhsin,dng , cn trn cun kia c in p . R rng gi tr in p ra ph thuc gc gia rotor v stator. Tn hiu phn hica gc quay c cung cp cho 2 cun dy qua hmv ,saukhinhnvitnhiuuvov cng i s c tn hiu ra l. Tn hiu nyckhuchivgitikhingb,mbogi tr ca n phi t l vi nu c sai lch, tn hiu cbbithitbb.Sau,tnhiuctchphn. Mchphnhicbtodaong,chuyniinp thnhtns(voltage-to-frequencyconverter-VCO),v khi m xung. Gi tr s i din cho gc quay . 0 e cos . t sin V0o sino cos) sin( . sin o 0 et V) sin( o 0o0* Cm bin vn tc Mc d c th xc nh vn tc t kt qu o v tr, ngi tavnthngotrctipnbngcmbinclp.Cc cmbinvntcthngdngctnltachometer.C2 loi tachometer l DC tachometer v AC tachometer. DCtachometerlmtmyphtinmtchiu,dng nam chm vnh cu. Yu cu c bit i vi chng l quan h tuyn tnh gia tn hiu vo (tc quay) v tn hiu ra (inp); gimhiungttrvnhhngcanhit. NhcimcaDCtachometerldngcgpinv khng th loi tr c hin tng mch p bng phng phplc,vtnstnhiurathayithngxuyn. tuyn tnh ca DC tachometer c th t trongkhong 0,1 - 1%, h s p mch bng khong 2 5% gi tr danh nh ca tn hiu ra. AC tachometer khc phc c hin tng mch p. N gm stator, c2cundyvrotorkiucc.Cundythnht(cunkcht) c cp in p xoay chiu hnh sin vi tn s khong 400 Hz. Khi rotor quay, trn cun dy th hai s xut hin in p xoay chiu t l thun vi tc quay ca rotor . Hin tng mch p vn c nhng c th loi tr bng b lc thch hp, v tn s tn hiu ra khng i. Ngoi ra, AC tachometer cn c cc u im khc, nh khng gp cc phin phc do c gp, rotor khng c cun dy nn nh, momen qun tnh nh, d cn bng v chc chn. Nhc im ca n l c in p d u ra ngay c khi rotor khng quay do h cm k sinh gia cc cun dy. * Cm bin o lc Mt vt chu tc dng ca lc v momen bao gi cng b bin dng, ngha l c s chuyn v tng i gia cc phn ca n. V vy cc phpolcvmomenthngcquyvochuynv.Thngs ca cc linh kin in, nh in tr, in dung, in cm, thng thay i khi b bin dng. Da vo ngi ta ch to cc u o kiu in tr, in dung, in cm o lc. Trong mt s tinh th vt cht, nh thchanh,khibbindngscchnhlchinpgiaccvng. Davo,ngitachtoraccuolckiupin (piezoeletric). Trongsccloisensorlcktrn,ngitahaydng kiuintr,giltensiometer.lintrlmbng dydnmnh,cdnnnphntbindng.Nuphn tbkothtitdindybgim,dointrcan tng.Ngoiyucuvtuyntnh,intrsutcavt liu lm tensiometer phi t thay i theo nhit . tng vng lm vic tuyn tnh, ngi ta dng cu cn bng, trong tensiometerlmtnhnh(Rs).Khichatcdnglc, cu cn bng, ngha l Vo = 0. Khi c lc Rs thay i, lm cu mt cn bng. Tn hiu ra c tnh theo cng thc: bsnhhngcanhit,ngitadngR3nh intrb,gnlnvngkhngchulc.NugnR3ln phaidincaphntbindng,saochoRschuko cn R3 chu nn th s tng c nhy ca sensor. is 3s2 12oV )R RRR RR( V++= Quan h gia lc tc dng v tn hiu ra ph thuc rt nhiu vo cch gn sensor ln phn t bin dng. Sau y l vdminhhovngdngtensiometervoolctc dng ln c tay khi nng vt. Trong trng hp ny phn t bindngcdngchthp(kiuMaltese),ngvaitr truyn lc gia kp v c tay. Cc tensiometer c dn ln ccnhnhchthp,saochosensornhnctnhiulc tc dng theo bt c phng no. Mi nhnh ch thp c dn2tensiometer,nntngsgitrocl8,t n . Lc tng qut tc dng ln c tay c 6 thnh phn:3thnhphnlchngtheo3trcta(fx,fy,fz) v 3 thnh phn momen quanh 3 trc ( ). Quan hgiaccthnhphnlcvmomenviccgitro c biu din qua mt ma trn, gi l ma trn chun nh (calibration matrix): 1e8ez y x, , ((((((((((((

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8765432167 65 63 6156 5248 4438 36 34 3225 2117 13zyxzyx0 c 0 c 0 c 0 c0 0 c 0 0 0 c 0c 0 0 0 c 0 0 0c 0 c 0 c 0 c 00 0 0 c 0 0 0 c0 c 0 0 0 c 0 0fffCc sensor thng dng kiu ny c ng knh khong 10 cm, cao khong 5 cm; c gii hn o lc (50 500) N v momen (5-70)Nm;phngiiolckhong0,1%vmomen 0,05% gi tr cc i; tc ly mu ca mch x l khong 1 Hz. * Thit b quan st (Visual System) Thit b quan st l mt sensor c bit, c kh nng nhn bit v x l hnh nh ca i tng. Thit b quan st c ngdngrngritrongcngnghipnichung,songng dngtrongrobotlngdngctrngnht.Mtkhcx lnhcnglmttrongnhnglnhvcphttrinmnh nht ca cng ngh thng tin hin i, nn thit b quan st trn robot gn lin vi my tnh. Trnhnh6.12lmththngquanstnginca robot,nhnbit2vt:mtvtcaovmtvtthp.H thng c mt ngun sng v 2 sensor thu nh sng. Nu c vt cao trc ngun sng th c 2 sensor u nhn c nh sngphnx.Nuchcvtthpthchringsensorthp nhn c. Nu khng c vt no th khng sensor no nhn c tn hiu. Hnh nh ca i tng ch gm c 2 im nh (trong k thut x l nh, im nh c gi l pixel). Tn hiu v i tng, tuy ch c 2 pixel nhng cng cn b phn tch, v d mt PLC. N c lp trnh : Bohiuchorobotnucvtcaotrcmt.Vvyrobot ch phi phn ng khi gp vt cao. Ni hiu lnh cho ngi nu ch c vt thp trc mt. Nh vy ngi ch phi phn ng nu gp vt thp. Gi h thng trn l thit b quan st c th l hi lm dngtnyvhthngnhvyclkhngtntitrn thct,nhngnchomthnhdungbanuvthitb quan st. Thit b quan st tht s cng c cc b phn c bn nh h thng v d trn. l h thng n gin nhn dng chi tit. N c kh nng phn bit cc chi tit trong trng quan st ca mnh. H thng nhn dng ni trn gm c: Ngun sng, tia sng do n pht ra s b phn x bi vt v c thu bi Camera,biniquangnngthnhinnng,cungcp cho Bthunh(Framegrabber),gmmchintvphn mmphntchtnhiuthnhccpixelvbiudin chng di dng m nh phn. S phn b cc im nh gi l bitmap. S ny s c chuyn ti My tnh lu tr v x l tip. my tnh s so snh s im nh ca vt vi s im nh chun (gi l template) trongthvinxemvtthucloino.Mytnhsch chorobotbitchititnangnhnthylchititno, thng qua Giao din u ra. N chuyn tn hiu t h thng nhn dng cho b iu khin robot. V d, mt m H (nu chi tit l hp), m C (nu chi tit l c l) s c truyn theo giao din chun RS 232. Thit b nhn dng cng chnh xc nu c s im nh trn mt n v din tch nh (ngha l phn gii) cng ln. n v chun ca phn giildpi(dotsperinch).Mnhnhmytnhcphngiic100 dpi,cnmyinlaserthnhcphngiicaohn(c300dpitr ln). phngii ca nh cng ln th tc x lv dung lng b nhcamytnhcngphicao.Khnngnhndngchnhxcca thit b quan st cn cho nhng trng hp sau: Phn bit cc chi tit kh ging nhau Phn bit cc sn phm tt v ph phm S dng mu sc nhn dng i tng o kch thc ca chi tit Nhn bit vt cn trnh va chm Nhn bit khong cch v hng ca chi tit Nhn bit tc v hng chuyn ng ca i tng Nhn bit i tng 3 chiu Cc thit b nhn dng mc tiu ca my nm bom, nhn dng ng cho cc t t li, l nhng v d v cc thit b quan st hin i. 6.4. H thng iu khin Cc phn trn trnh by v h thng c kh (xng ct) vhthnkinhngoivi.Muniukhincrobotcn mt h thng thn kinh trung ng, tc l no b. l h thng iu khin. 6.4.1. Kin trc chc nng H thng iu khin robot cn c cc kh nng sau: -iukhinchuynngcaccccuckh (manipulation ability); - Thu nhn thng tin v trng thi ca h thng v v mi trng cng tc (sensory ability); - Phn tch thng tin v phn ng trc iu kin thc t trong phm vi xc nh (intelligent behavior ability); -Lutr,xlvcungcpthngtinvhthng(data processing ability); Mun vy, b iu khin cn c cc khi (modul) c bn: -Modulcmbinthunhn,bini,hiuchnh,tnghp thng tin v trng thi ca h thng v v mi trng. -Modultnghp,thitlpmhnhtnghpvhthng v mi trng trn c s thng tin do modul cm bin cung cp. -Modulraquytnh,araphngthchnhng.T chinlchnhng,lpkhoch,iukhinhotng ca c cu thc hin nhim v theo tnh hung c th. Ccmodultrntng linktvi nhautheo nhimv cquynhtrongchngtrnh,ctnhnkhnng thchngcahthngtrongqutnhhungcth.Tuy vy,vncncgiaodinvingivnhnhkhicncon ngi c th kim tra, gim st, can thip vo h thng. Tnh n cng trao i thng tin gia cc modul vi nhau v gia hthngvingivnhnh,cncbnhchunglutrcc thng tin ban u v thng tin cp nht ca h thng v mi trng. Cu trc chc nng trn c phn cp theo th bc. Cu trc bc thplinquannccdchchuynvtl.Cutrcbccaognvi chcnngphntchlogic.Ccbclinhvinhauthngquadng dliu.Strnhnh6.14chophpnhnnhntngquanvcu trc chc nng v cu trc th bc ca h iu khin robot. Tu theo yu cu i vi hot ng ca robot, cc chc nng c phncpvimckhcnhau.Nichungcthphnthnh4cp chnh: - Cp nhim v (task level), gii quyt cc vn chung v nhim v. Sosnhyucutravikhnngchpnhncahthng,tnh trng hin ti ca h thng vi mi trng -Cpchinlc(actionlevel),giiquytphngthchnhng chung, v d h ta , v tr ca phn cng tc, cc im phi i qua, hm ni suy s s dng -Cp k hoch (primitive level