臺灣博碩士論文加值系統

In the last decade, robotics is one of important solutions in healthcare applications. Robotic manipulators with tendon-driven configurations usually use as solutions in biomedical fields. Therefore, this work presents the mechanical design and control schemes for a flexible robotic joint with tendon-driven rotary actuator techniques. The flexible tendon-driven rotary actuator consists of 2 brushless DC (BLDC) motors which are connected by using a pair of steel wires and a rotary joint. The force-sensor-less method is applied to measure the cable tension which is calculated from the relative displacement between the motor and rotary movements. With considering the controls of a pair of cables’ tensions, position and compliance control schemes can be achieved. Practically, the flexible robotic joint controller is implemented by using system-on-a-programmable-chip (SoPC) techniques to realize hardware/ software co-design approaches based on a field programming gate array (FPGA) architecture. Finally, a test platform containing a mechanical platform and a FPGA-based control system was made in this work, and the experiments for the control schemes of tension, position and position with compliance were discussed to verify the idea of tendon-driven rotary actuator design.

In the last decade, robotics is one of important solutions in healthcare applications. Robotic manipulators with tendon-driven configurations usually use as solutions in biomedical fields. Therefore, this work presents the mechanical design and control schemes for a flexible robotic joint with tendon-driven rotary actuator techniques. The flexible tendon-driven rotary actuator consists of 2 brushless DC (BLDC) motors which are connected by using a pair of steel wires and a rotary joint. The force-sensor-less method is applied to measure the cable tension which is calculated from the relative displacement between the motor and rotary movements. With considering the controls of a pair of cables’ tensions, position and compliance control schemes can be achieved. Practically, the flexible robotic joint controller is implemented by using system-on-a-programmable-chip (SoPC) techniques to realize hardware/ software co-design approaches based on a field programming gate array (FPGA) architecture. Finally, a test platform containing a mechanical platform and a FPGA-based control system was made in this work, and the experiments for the control schemes of tension, position and position with compliance were discussed to verify the idea of tendon-driven rotary actuator design.

ABSTRACT ............................................................................................................ i
ACKNOWLEDGEMENT ..................................................................................... ii
CONTENTS .......................................................................................................... iii
LIST OF TABLES ................................................................................................. v
LIST OF FIGURES .............................................................................................. vi
CHAPTER 1. INTRODUCTION .......................................................................... 1
1.1. Background of research ................................................................. 1
1.2. Objectives of Research.................................................................... 2
1.3. Thesis Structure .............................................................................. 2
CHAPTER 2. LITERATURE REVIEWS ............................................................. 4
2.1. Healthcare robots ............................................................................ 4
2.1.1. Exoskeletons ...................................................................... 4
2.1.2. Surgery Robot .................................................................... 5
2.2. Flexible Robotic Joint ..................................................................... 6
2.3. Compliance and Position Control ................................................ 10
CHAPTER 3. FUNDAMENTAL TECHNOLOGY............................................. 13
3.1. Brushless DC Motor ..................................................................... 13
3.1.1. Stator ................................................................................ 13
3.1.2. Rotor ................................................................................. 14
3.1.3. Rotor Position Sensor ....................................................... 15
3.1.4. Torque/Speed Characteristics ........................................... 15
3.1.5. Mathematical Modeling ................................................... 16
3.1.6. Trapezoidal Back EMF .................................................... 18
3.1.7. Encoder Pulse Sequence .................................................. 21
3.2. Load Cell....................................................................................... 22
3.3. FPGA ............................................................................................ 23
3.3.1. Programmable Logic ........................................................ 24
iv
3.3.2. Programmable Interconnect ............................................. 24
3.3.3. Programmable I/O ............................................................ 25
3.4. PID Controller .............................................................................. 26
3.4.1. Proportional Term ............................................................ 28
3.4.2. Integral Term .................................................................... 28
3.4.3. Derivative Term ................................................................ 29
3.4.4. Manual Tuning ................................................................. 29
CHAPTER 4. DESIGN OF FLEXIBLE ROBOTIC JOINTS.............................. 31
4.1. Design Concept ............................................................................ 31
4.2. Mechanical Design ....................................................................... 32
4.3. Electrical Board Design ................................................................ 34
4.4. FPGA Design ............................................................................... 36
4.4.1. Software Design ............................................................... 37
4.4.2. Filter Module .................................................................... 40
4.4.3. ENC Module .................................................................... 42
4.4.4. PWM Module ................................................................... 46
CHAPTER 5. DESIGN AND SIMULATION OF CONTROL SYSTEM ......... 48
5.1. Single Tension Open Loop Model and Simulation ...................... 48
5.2. Single Tension Close Loop Model ............................................... 52
5.3. Dual Tension Open Loop Control Model and Simulation ........... 55
5.4. Position compliance close loop control model and simulation .... 59
CHAPTER 6. MEASUREMENT ........................................................................ 64
6.1. Degree Measurement .................................................................... 64
6.2. Spring Constant Measurement ..................................................... 65
6.3. Force Control Measurement ......................................................... 65
6.3.1. Compliance Control Force Measurement.......................... 66
6.3.2. Position Compliance Control ............................................ 68
6.4. Position Control Measurement ...................................................... 72
6.5. Learning Experiment ..................................................................... 76
CHAPTER 7. CONCLUSION AND FUTURE WORKS.................................... 78
7.1. Conclusion .................................................................................... 78
v
7.2. Future Works ................................................................................ 79
REFERENCES ..................................................................................................... 80

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