跳到主要內容

臺灣博碩士論文加值系統

(75.101.211.110) 您好!臺灣時間:2022/01/26 13:35
字體大小: 字級放大   字級縮小   預設字形  
回查詢結果 :::

詳目顯示

我願授權國圖
: 
twitterline
研究生:王聲榕
研究生(外文):Sun-Run Wang
論文名稱:力量控制在循跡系統上的應用
論文名稱(外文):Application of Force Control on a Robot Manipulator for 2D Unknown Trajectory Following
指導教授:董必正董必正引用關係
指導教授(外文):Pi-Chen Tung
學位類別:博士
校院名稱:國立中央大學
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:2002
畢業學年度:90
語文別:英文
論文頁數:113
中文關鍵詞:自我調適適應性控制前饋控制路徑追隨半徑補償模糊控制順應性控制機械人
外文關鍵詞:path trackingradius compensationfuzzy controlcompliance controlmanipulatorrobotself-tuningadaptive controlfeed forward control
相關次數:
  • 被引用被引用:4
  • 點閱點閱:209
  • 評分評分:
  • 下載下載:0
  • 收藏至我的研究室書目清單書目收藏:1
Cover
Contents
List of Figures
List of Tables
1. Introduction
1.1 Motivation
1.2 Literature Survey
1.3 Organization
2. On the Working Path Tracking Implemented by a Robot Manipulator
2.1 Introduction
2.2 Dynamic model of the robot manipulator
2.3 Design of the fuzzy controller
2.4 Experimental setup and results
2.5 Conclusion
3. Application of Self-tuning Fuzzy Controller for a Cartesian Manipulator on Unknown Contours
3.1 Introduction
3.2 Contact force of compliant motion
3.3 Design of the controller
3.4 Experimental setup and results
3.5 Conclusion
4. Application of MRAC Theory for Adaptive Control of Constrained Robot Manipulator
4.1 Introduction
4.2 System modeling
4.3 Compliance analysis
4.4 Design of compliant controller
4.5 Illustrative Experiment
4.6 Discussion and conclusion
5. Conclusion and future works
References
Appendix


[1] M. H. Raibert, J. J. Craig, "Hybrid position/force control of manipulators," Trans. ASME J. of Dyn. Systems, Measurement and Control, vol. 102, pp. 126-133, 1981.[2] N. Hogan, "Impedance Control: An approach to Manipulation: Part I - Theory, Part II - Implementation, Part III - Application," Trans. ASME J. of Dyn. Systems, Measurement, and Control, vol. 107, pp. 1-24, 1985.[3] H. Kazerooni, B. J. Waibel, and S. Kim, "On the stability of robot compliant motion control: theory and experiments," Trans. ASME J. of Dynamic Systems, Measurement, and Control, vol. 112, pp. 417-426, 1990.[4] N. Hogan, "On the stability of manipulators performing contact tasks," IEEE Trans. on Robotics and Automation, vol. 4, pp. 667-686, 1988.[5] S. Z. He et al., "Control of dynamical processes using an on-line rule-adaptive fuzzy control system," Fuzzy Sets and Systems, vol. 54, pp. 11-22, 1993.[6] M. A. Llama, V. Santibanez, R. Kelly, J. Flores, "Stable fuzzy self-tuning computed-torque control of robot manipulators," in Proc. IEEE Int. Conf. on Robotics and Automation, Part 3 (of 4), 1998.[7] K. C. Fan, "Non-contact automatic measurement for free-form surface profiles," Computer Integrated Manufacturing Systems, vol. 10, no. 4, pp. 277-285, 1997.[8] F. Y. Hsu, L. C. Fu, "Intelligent robot deburring using adaptive fuzzy hybrid position/force control," IEEE Trans. on Robotics and Automation, vol. 16, no. 4, pp. 325-335, 2000.[9] R. Paul, B. Shimano, "Compliance and control," in Proc. 1976 Joint Automatic Control Conference, pp. 694-699, 1976.[10] M. T. Mason, "Compliance and force control for computer controlled manipulators," IEEE Trans. Sys., Man, Cybern., vol. SMC-11, no. 6, pp. 418-432, 1981.[11] J. K. Salisbury, "Active stiffness control of a manipulator in Cartesian Coordinates," in Proc. 19th IEEE Conf. Decision Contr., vol. 1, pp. 95-100, Dec. 1980.[12] H. Kazerooni, "Compliant motion control for robot manipulators," Int. J. of Control, vol. 49, no. 3, 1989.[13] R. E. Goddard, Y. F.Zheng, H. Hemami, "Dynamic hybrid velocity/force control of robot compliant motion over globally unknown objects," IEEE Trans. on Robotics and Automation, vol. 8, no. 1, February 1992.[14] H. Seraji, "A new approach to adaptive control of manipulators," ASME J. of Dynamic Systems, Measurement, and Control, vol. 109, September 1987.[15] T. A. Lasky, T. C. Hsia, "On force-tracking impedance control of robot manipulators," in Proc. IEEE Int. Conf. on Robotics and Automation, April 1991.[16] W. S. Lu, Q. H. Meng, "Impedance control with adaptation for robotic manipulations," IEEE Trans. on Robotics and Automation, vol. 7, no. 3, June 1991.[17] J. K. Mills, A. A. Goldenberg, "Force and position control of manipulators during constrained motion tasks," IEEE Trans. on Robotics and Automation, vol.5, no.1, February 1989.[18] H. Kazerooni, T. B. Sheridan, P. K. Houpt, "Robust compliant motion for manipulators, Part I: The fundamental concepts of compliant motion; Part II: Design method," IEEE J. Robotics Automation, Vol. RA-2, no. 2, pp. 83-105, June 1986.[19] T. Sugie, T. Yoshikawa, and T. Ono, "Robust controller design for robot manipulators," ASME J. of Dynamic Systems, Measurement, and Control, vol. 110, no. 1, pp.94-96, March 1988.[20] T. Yoshikawa, T. Sugie, and M. Tanaka, "Dynamic hybrid position/ force control of robot manipulators - controller design and experiment," in Proc. IEEE Int. Conf. on Robotics and Automation, vol. 4, no. 6, pp. 699-705, December 1988.[21] T. Yoshikawa, "Dynamic hybrid position/ force control of robot manipulators - description on hand constraint and calculation of joint driving force," in Proc. IEEE Int. Conf. on Robotics and Automation, pp. 1393-1398, 1986.[22] F. Y. Hsu, L. C. Fu, "Adaptive robust fuzzy control for robot manipulators," in Proc. IEEE Int. Conf. on Robotics and Automation, pp. 629-634, 1994.[23] F. Y. Hsu, L. C. Fu, "A new design of adaptive fuzzy hybrid force/position controller for robot manipulators," in Proc. IEEE Int. Conf. on Robotics and Automation, pp. 863-868, 1995.[24] F. Y. Hsu, L. C. Fu, "A new adaptive fuzzy hybrid force/position control for intelligent robot deburring," in Proc. IEEE Int. Conf. on Robotics and Automation, pp. 2476-2481, 1999.[25] R. K. Mudi, N. R. Pal, "A robust self-tuning scheme for PI- and PD-type fuzzy controllers," IEEE Transactions on Fuzzy Systems, vol. 7, no. 1, pp.2-16, 1999.[26] M. R. Emami, A. A. Goldenberg, I. B. Turksen, "A robust model-based fuzzy-logic controller for robot manipulators," in Proc. IEEE Int. Conf. on Robotics and Automation, pp. 2500-2505, 1998.[27] F. Azam, H. F. VanLandingham, "A generalized fuzzy adaptive control method," in Proc. IEEE Int. Conf. on Robotics and Automation, pp. 2083-2088, 1998.[28] K. C. Jeong, S. H. Kwon, D. H. Lee, M. W. Lee, J. Y. Choi, "A fuzzy logic-based gain tuner for PID controllers," in Proc. IEEE Int. Conf. on Robotics and Automation, pp. 551-554, 1998.[29] Y. Q. Dai, A. A. Loukianov, M. Uchiyama, "A hybrid numerical method for solving the inverse kinematics of a class of spatial flexible manipulators," in Proc. IEEE Int. Conf. on Robotics and Automation, pp. 3449-3454, 1997.[30] D. Xiao, B. K. Ghosh, N. 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[31] R. J. Schilling, "Fundamentals of robotics: analysis and control," Prentice Hall, 1990.[32] J. J. Craig, Introduction to Robotics Mechanics and Control, Addison-Wesley, 2nd Edition, 1989.[33] J. J. Craig, Adaptive Control of Mechanical Manipulators, Addison-Wesley, 1988.[34] H. Butler, Model Reference Adaptive Control, Prentice Hall, 1992.[35] D. Driankov, R. Palm, Advances in Fuzzy Control, Physica-Verlag, 1998.[36] H. K. Khalil, Nonlinear System, Prentice Hall, 1996.

QRCODE
 
 
 
 
 
                                                                                                                                                                                                                                                                                                                                                                                                               
第一頁 上一頁 下一頁 最後一頁 top