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研究生:雷光宗
研究生(外文):Lei Kuang Tsung
論文名稱:直接驅動三軸機械手臂之設計與控制
論文名稱(外文):Design and Control of a 3 DOF Direct-Drive Arm
指導教授:莊華益莊華益引用關係
指導教授(外文):Dr.Chuang Hwa i
學位類別:碩士
校院名稱:國立臺灣科技大學
系所名稱:機械工程研究所
學門:工程學門
學類:機械工程學類
論文種類:學術論文
論文出版年:1995
畢業學年度:83
語文別:中文
論文頁數:121
中文關鍵詞:直接驅動交叉耦合模糊控制滑移控制
外文關鍵詞:direct-drivecross-coupledfuzzy controlsliding control
相關次數:
  • 被引用被引用:1
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直接驅動手臂是一種關節轉軸與高轉矩馬達轉子直接耦合的機械手臂,由
於在馬達與其負載間沒有減速機構,因此驅動系統沒有背隙且摩擦小並具
有高度機械剛性,非常適合需要高速且精密的應用場合。為了充份發揮此
等優越特性,本文採用數種控制方法以增進機械臂運動之位置追蹤性能,
包括利用反動力補償以抵銷非線性耦合影響之前饋控制與計算扭矩控制;
而滑移控制及模糊控制則被採用以克服參數誤差所造成的不利影響。本文
將一般用於工具機之交叉耦合控制器與前述之位置控制併用,以進一步降
低機械臂之運動路徑誤差。對於在高速運動時,因以估測值取代實際路徑
誤差而生的系統不穩定現象,則提出以模糊控制法則調整誤差加權值使誤
差獲得改善。本文以自行研製之模擬系統驗證各控制方法之特性與降低誤
差之有效性並提出模擬實驗之結果。
A direct-drive arm is a mechanical arm in which the shafts of
articulated joints are directly coupled to the rotors of motors
with high torque. Since the arm does not contain transmission
mechanisms between the motors and their load, the drive system
has no backlash, small friction, and high mechanical stiffness,
all of which are desirable for fast, accurate applications. In
order to make better use of these excellent properties, several
control policies are applied to improve the position tracking
performance, including the feedforward control and computed
torque control, both adding inverse dynamics control to
compensate nonlinear coupled effect of robot manipulator;
sliding mode control and fuzzy control, on the other hand, are
adopted to conquer the problems brought by imprecisions and
uncertainties in the parameters of robot arms. A cross-coupled
controller which usually seen in machine tools is proposed to
incorporate with the abovementioned position controllers to
further reduce the contouring error. With regards to the
instability caused by difference between the actual contouring
error and the estimated one while tracking a nonlinear spatial
path with high speed rate, a fuzzy rule based method is
presented to adjust the weighting factor of the controller ,
whereby the malignant effects can be reduced. A self-developed
simulation environment was used to identify the validity of
each controller in improving tracking performance . Various
simulation results are also presented in this paper.
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