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研究生:陳芳雄
論文名稱:機械手臂系統之非線性遞回步階控制設計
論文名稱(外文):Nonlinear Backstepping Control Design of Robot Manipulator Systems
指導教授:林容杉
學位類別:碩士
校院名稱:國立暨南國際大學
系所名稱:電機工程學系
學門:工程學門
學類:電資工程學類
論文種類:學術論文
論文出版年:2004
畢業學年度:92
語文別:中文
論文頁數:55
中文關鍵詞:非線性系統機械手臂速度觀測器
外文關鍵詞:Nonlinear SystemRobot ManipulatorVelocity Observer
相關次數:
  • 被引用被引用:8
  • 點閱點閱:468
  • 評分評分:
  • 下載下載:93
  • 收藏至我的研究室書目清單書目收藏:0
在現今社會中,機械手臂已經廣泛的被應用於工業界中。在許多的應用中,機械手臂的各軸會按照著一個理想的軌跡從一個定點移到另一個定點,以達成工作目的。在本篇論文中,我們將利用非線性遞迴步階控制設計(nonlinear backstepping)的法則來設計機械手臂軌跡追蹤控制的法則。並且,我們也將討論具有動態模型未知的機械手臂系統,並利用適應性遞迴步階控制(adaptive backstepping)的方法來設計控制器。此外,許多機械手臂的控制法則都需要各軸轉動角度及轉動速度的回授,但大多數常見的機械手臂系統,並沒有辦法取得速度的回授。所以我們將設計一個速度估測器並結合非線性遞迴步階控制所設計的控制法則以達成軌跡追蹤控制與轉動速度估測的目的。另外,我們加入了強健性控制的設計,使的我們的控制器設計可以抵抗外來的干擾。而我們將在一個兩軸的機械手臂模型中進行模擬,以驗證這些控制法則的效能。最後,我們將驗證我們所設計的控制法則,可以達到機械手臂軌跡追蹤的目的。
At present, robotic manipulators are commonly used in manufacturing industry. In many cases, their end-effectors are required to move from one place to another and follow some desired trajectories. In this thesis, a nonlinear backstepping design control scheme is proposed for the trajectory tracking control of robot manipulators. Moreover, the robot manipulator with dynamic uncertainties will be considered in the design of the nonlinear adaptive backstepping control algorithm. In addition, most of robot manipulator controllers require position measurements as well as velocity measurements to achieve their control objectives, but a lot of robotic systems do not have velocity measurement devices. Therefore, a velocity observer is designed to estimate the unknown angular velocity of robot manipulators, and then the nonlinear controller based on backstepping algorithm is developed for the design of robot manipulator systems. The proposed nonlinear backstepping controller is not only to stabilize the robot system, but also to drive the trajectory tracking errors to converge to zero rapidly. Additionally, this proposed controller with some robust modification can also achieve the target of constant disturbance rejection. Furthermore, some simulation results are given to illustrate the excellent performance of the backstepping control design scheme applied to a two-link robot manipulator.
誌謝………………………………………………………………………I
摘要.......................................................II
目錄……………………………………………………………………..IV
第一章:簡介……………………………………………………………V
第二章:系統模型與動態方程式…………………………………..…..VI
第三章:非線性遞回步階設計………………………………….……..VII
第四章:結合速度估測之非線性遞回步階設計………………….....VIII
第五章:結論與未來展望………………………………………………IX
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[15]J.T. Wen and D.S. Bayard, “New class of control laws for robotic manipulators: non-adaptive case,” International Journal of Control, vol.47, pp. 1361-1385, 1988.
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