臺灣博碩士論文加值系統

近些年來機械臂的應用相當廣泛，為了辨識機械臂和工件的相對位置，在工業界多應用CCD(change couple device)來取得影像資訊進而定位，但CCD受限於環境的關係，很難廣泛的應用，為了能代替用CCD來量測工件的外型和位置，本論文發展用力量感測的五軸機械臂來做接觸式的量測，藉由順應運動(Compliant motion)的理論，使裝有力量感測器的端效器能順利地找出工件的邊界，臂利用模糊控制(Fuzzy control)的應用在順應運動上，藉由這個方式來改善原有的順應控制，使機械臂在尋找工件的邊界時，能加快其尋找工件邊界的速度和精確性，另外藉由一連串的實驗，來驗證本文所提出的順應控制理論的可行性。

Recent years, the application of robot is extensive. In order to recognize the relative position between robot and workpiece, CCD (change couple device) is applied to get the image information to orientate, but it is restricted by environment, and it’s not easy to apply extensively. In order to substitute CCD to measure the shape and position, we use a five-axis robot with a force sensor to do the contact measurement. Using the complaint motion controller, the end-effector with force sensor, which can detect the boundary of workpiece smoothly. And using the algorithm of Fuzzy applies in compliant motion, depending on this method improves the compliant control, when robot looks for the boundary of workpiece, it will be very fast and accuracy to look for the boundary of workpiece. In addition, depending on continuous experiments verify the practicability of compliant control algorithm by this thesis.

摘要
目錄
第一章簡介
第二章實驗設備
第三章軌跡規劃
第四章機械臂系統的控制器設計
第五章實驗結果
第六章結論
附錄 英文論文

[1] C. Perrier, L. Cellier, P. Dauchez,“Experimental comparison of hybrid and external control structures for a mobile manipulator,”Robotics and Automation Proceedings, IEEE International Conference, Vol. 4, pp. 3577-3582(1997).
[2] Di Xiao, B. K. Ghosh, Ning Xi, T. J. Tarn, “Sensor-based hybrid position/force control of a robot manipulator in an uncalibrated environment,”Control Systems Technology, IEEE Transactions, Vol. 8, Issue: 4, pp. 635-645, July, (2000).
[3] Feng-Yi Hsu, Li-Chen Fu, “Intelligent robot deburring using adaptive fuzzy hybrid position/force control,”Robotics and Automation, IEEE Transactions, Vol. 16, Issue: 4, pp. 325 -335 Aug, (2000).
[4] H. Kazerooni,“Fundamentals of robust compliant motion control,”IEEE Journal of Robotics Automation, Vol. RA-2, June, (1986).
[5] J. J. Craig,“Introduction to robotics: mechanics and control,”Second Edition, Addison-Wesley Publishing Company, 1989.
[6] Jin-Soo Kim, K. Suzuki, M. Yamano, M. Uchiyama,“ Vibration suppression control of constrained spatial flexible manipulators,”Robotics and Automation Proceedings, IEEE International Conference, Vol. 4, pp. 2831-2837(1997).
[7] M. H. Raibert and J. J. Craig,“Hybrid position/force control of manipulators,”ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 102, pp. 126-133(1981).
[8] N. Hogan,“Impedance control: An approach to manipulation: Part1-theory, Part2-Implementation, Part3-Application,”Journal of Dynamic Systems, Measurement, and Control, Vol. 107, pp. 1-24(1985).
[9] P. B. Goldsanith,“Stability of robot force control applied to unilateral constraints,”Electrical and Computer Engineering, Canadian Conference, Vol. 2, pp. 498-501 (1996).
[10] R. J. Schilling,“Fundamentals of robotics: analysis and control,”Prentice-Hall, Inc., 1990.
[11] R. Kumar, P. Berkelman, P. Gupta, A. Barnes, P. S. Jensen, L. L. Whitcomb, R. H. Taylor, “Preliminary experiments in cooperative human/robot force control for robot assisted microsurgical manipulation,” Robotics and Automation Proceedings. IEEE International Conference, Vol. 1, pp. 610-617(2000).
[12] Yong Cui, N. Sarkar, “ A unified force control approach to autonomous underwater manipulation,”Robotics and Automation Proceedings, IEEE International Conference, Vol. 2, pp. 1263-1268(2000).
[13] 王文俊 編著, 認識Fuzzy, 全華科技圖書, 1997.
[14] 卓聖鵬 編譯, 機器人控制, 全華科技圖書, 2000.
[15] 羅凱, 力量控制接觸掃描是三次元量測之研究, 國立中央大學機械所碩士論文, 1994.