臺灣博碩士論文加值系統

機械臂的主要工業用途在於作為加工過程中的載具, 在撓性機械臂方面, 許多的靜態力量
控制方法已經被提出. 本文的目的在探討以撓性臂用於拋光加工的特性, 同時以理論與實
驗結果評估其系統之控制性能, 並對撓性結構載具的實際應用潛力作一討論.由理論與實
驗結果發現, 撓性機械臂在加工過程中, 具有先天不穩定性與不可控制性, 不可控制性主
要是由於在加工過程中, 加工過程的狀態變數無法完全透過撓性臂之力量控制命令來加以
控制, 這點限制了撓性臂在加工過程中的應用價值.

The main use of robot arm in industry is the carrier of machiningtool in machi
ning process. In the realm of flexible arm study, therehave been a lot of stat
ic force control method proposed. The main purpose of this paper is to study t
he characteristics of flexible armapplied in polishing process, evalutes the c
ontrol performance of thesystem, and make a discussion of flexible arm''s poten
tial in industrial application.From theoretical and experimental results, it i
s found that in machiningprocess, flexible arm system is not asymptotically st
able and not controllable. The uncontrollability comes from the factors which
can not be influenced by force control command given to flexible arm, this dra
wback limits flexible arm''s application in machining process.