臺灣博碩士論文加值系統

　　一般機械手臂上的各種控制器的設計是為了追蹤控制，而由於機械手臂之任務要求差異，從而產生了機械手臂上的循軌控制。
　　本文主要研究目的是應用循軌控制於具贅於自由度機械手臂。由機械手臂上之運動學以及動態模型逐步探討，並建立循軌控制上的座標轉換，結合反步式順滑模態控制與循軌指標之設計方法，進而以性能指標函數，選取零空間向量，得到避開關節極限之最小化函數，計算擴階之賈可賓矩陣，解決循軌轉換上所遇到轉換矩陣不為方正之問題。實驗上的結果顯示出，即使追蹤速率上有所落差，造成追蹤效果不好，但是在循軌效果上，仍然可以使機械手臂末端夾爪位置在圓軌跡上。

Various controllers on general robot arm are designed for tracking control. Because of the mission requirement for machining, the contouring control was heavily studied recently. The main work of this dissertation studies contouring task for redundant robot arms. The contouring controller is designed by back-stepping sliding mode control associated with a contour index. The null-space method of avoiding joint limits was used to calculate the extended Jacobian for task to join space transformation matrix of redundant robot arms. The results show that it can achieve the desired contour even the end-effector does not track the command very well.

中文摘要.............................................I
英文摘要............................................II
誌謝...............................................III
目錄................................................IV
表目錄..............................................VI
圖目錄.............................................VII


第一章 緒論..........................................1
1.1 前言.............................................1
1.2 文獻回顧.........................................2
1.3 本文架構.........................................4

第二章 機械手臂分析..................................5
2.1 機械手臂運動學...................................5
2.1.1 機械手臂順向運動學.............................6
2.1.2 機械手臂逆向運動學............................10
2.2 機械手臂之動態模型..............................11

第三章 機械手臂之循軌控制設計.......................18
3.1 循軌誤差建模....................................18
3.2 任務空間座標轉換................................20
3.3 誤差動態建模....................................21
3.4 循軌控制器設計..................................22
3.5 循軌修正指標....................................23
3.6 具贅餘自由度機械手臂之賈可賓矩陣補償............27
3.7 數值差分........................................30

第四章 數值模擬與實驗結果...........................32
4.1 系統架構........................................32
4.2 數值模擬........................................36
4.3 循軌控制實驗....................................54

第五章 結論與建議...................................62

參考文獻............................................63
附錄A機械手臂零組件明細.............................65
自述................................................74

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