臺灣博碩士論文加值系統

本論文最主要提出一種可查表式的變結構控制法則，並將此種控制法則應用在一非線性時變的二軸機械手臂上。此種方法便是分別針對機械手臂的兩軸分別建立一個表格，然後根據兩軸手臂的角度由表格中找到對應的控制量，然後進行控制，最後再以相關的模擬，證明此舉的可行性。

The primary purpose of this paper is the introduction of a table look-up variable structure control method and the application of this method to a nonlinear time-varying two-links robotic manipulator. This method establishes tables separately for each of the two links on the robotic manipulator, and then finds the corresponding control power for different angles of each arms. The advantage of this design is to lower the level of calculation complexity. Related simulations are attached to prove the validity of the method.

書頁名…………………………………………………………… i
論文口試委員審定書…………………………………………… ii
授權書…………………………………………………………… iii
電子檔案上網授權書…………………………………………… iv
國科會授權書…………………………………………………… v
中文摘要………………………………………………………… vi
英文摘要………………………………………………………… vii
誌謝……………………………………………………………… viii
目錄……………………………………………………………… ix
表目錄…………………………………………………………… xi
圖目錄…………………………………………………………… xii
符號說明………………………………………………………… xiv
第一章緒論………………………………………………… 1
1-1研究動機………………………………………… 1
1-2研究方法………………………………………… 1
1-3論文架構………………………………………… 1
第二章機器手臂系統之描述………………………………… 2
2-1 機器人簡介……………………………………… 2
2-2 機器手臂的分類………………………………… 3
2-2-1 驅動方法…………………………………… 3
2-2-2 工作環境…………………………………… 3
2-2-3移動控制方法……………………………… 6
2-3 二軸機械手臂系統描述………………………… 7
2-3-1機械手臂之動態方程式…………………… 7
2-3-2 模型之簡化………………………………… 12
第三章控制方法設計與模擬………………………………… 16
3-1變結構控制簡介………………………… 16
3-1-1 滑動模式…………………………………… 17
3-1-2 變結構控制設計步驟……………………… 19
3-2 Lyapunov 穩定性方法……………………20
3-3模式簡化前之控制法則……………………22
3-3-1變結構控制設計步驟…………………………24
3-3-2模型簡化前之控制結果………………………25
3-4模式簡化後之控制法………………………26
3-4-1查表式變結構控制設計步驟…………………26
3-4-2模型簡化後之控制結果………………………29
3-5外部雜訊干…………………………………32
第四章 總結論…………………………………………………… 57
參考文獻…………………………………………………………… 58
附錄…………………………………………………………………60

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