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研究生:李宗憲
研究生(外文):Tsung-Hsien Lee
論文名稱:撓性關節雙機械臂之回饋線性化控制
論文名稱(外文):Feedback Linearization for the Control of Dual Arm Robot Systems with Flexible Joints
指導教授:林仕亭
學位類別:碩士
校院名稱:國立中興大學
系所名稱:機械工程學系所
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:2010
畢業學年度:98
語文別:中文
論文頁數:100
中文關鍵詞:回饋線性化
外文關鍵詞:Feedback Linearization
相關次數:
  • 被引用被引用:1
  • 點閱點閱:140
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  • 收藏至我的研究室書目清單書目收藏:0
本文讓平面撓性關節雙機械臂在不使用力量感測器且系統參數不確定的情況下,進行位置及力量控制。夾持物件後的雙機械臂系統,我們視之為閉鏈的多體機械系統。建立此閉鏈系統的動態方程式時,應用Lagrange Multiplier定理,可以將系統的拘束方程式引入動態方程式中,然後得到拘束動態方程式。不過上述拘束動態方程式為一非線性系統,因此我們利用回饋線性化法將拘束動態方程式線性化後進行控制。透過求解拘束動態方程式,可以求得Lagrange Multipliers,經由轉換計算,我們可以由求得的Lagrange Multipliers計算出物件的受力,進而進行力量控制,並且透過參數估測可以得到較精確的系統參數,藉此克服參數不確定的問題。最後由電腦模擬得知,透過參數估測的設計,在進行雙機械臂的位置及力量控制,即使發生參數的誤差,也可以得到良好的控制效果。

The thesis simulates position/force control of dual arm robot systems with flexible joints without force sensors in the parameter uncertainty situation. Dual-arm robots holding with the object can be seen as a closed chain multi-body mechanical system. During establishing the equation of motion of the closed chain multi-body mechanical system, one can introduce the constrained equations into equations of motion, by applying Lagrange Multiplier theorem, and then obtain the constrained equations of motion. However, the constrained equations of motion is a nonlinear system, we let it be linear by using feedback-linearization, carry on the control. Solving the constrained equations of motion, one can get the Lagrange Multipliers, which can be used to calculate the force acting on the object held by dual-arm robots and use parameter estimation to overcome parameter uncertainty. Finally, we obtain the good control effects of dual arm robot systems with flexible joints without force sensors in the parameter uncertainty by the computer simulations.

中文摘要 I
ABSTRACT II
目錄 III
圖目錄 V
表目錄 X
第一章 緒論 1
1.1 前言 1
1.2 文獻回顧 2
1.3 論文大綱 4
第二章 平面撓性關節雙機械臂動態方程式 6
2.1 Lagrange運動方程式 6
2.2 平面撓性關節機械臂動態方程式─開鏈型態 7
2.3 Lagrange Multiplier定理 14
2.4 平面撓性關節雙機械臂動態方程式─閉鏈型態(含拘束方程式) 14
第三章 拘束動態方程式之回饋線性化 18
3.1 回饋線性化 19
3.2 拘束動態方程式之回饋線性化 25
3.3 系統參數的設計 33
3.4 系統鑑別 35
第四章 斷點拘束與數值模擬 39
4.1 雙機械臂基本架構與系統參數 39
4.2 斷點拘束方程式及其所對應之輸出 40
4.3 控制模擬之結果 45
4.3.1 雙機械臂物件搬運模擬 45
4.3.2 雙機械臂物件夾持模擬 52
4.3.3 雙機械臂零件組裝模擬 59
4.4 參數誤差之數值模擬 66
4.4.1 雙機械臂參數誤差物件搬運模擬 66
4.4.2 雙機械臂參數誤差物件夾持模擬 76
4.4.3 雙機械臂參數誤差零件組裝模擬 86
第五章 結論與未來展望 96
參考文獻 98


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