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研究生:黃信傑
研究生(外文):Xin-Jie Huang
論文名稱:機械手臂負載補償阻抗控制之研究
論文名稱(外文):A Study of Impedance Control with Load Compensation for a Manipulator
指導教授:邱士軒邱士軒引用關係
指導教授(外文):Shih-Hsuan Chiu
口試委員:邱士軒
口試委員(外文):Shih-Hsuan Chiu
口試日期:2012-07-16
學位類別:碩士
校院名稱:國立臺灣科技大學
系所名稱:材料科學與工程系
學門:工程學門
學類:材料工程學類
論文種類:學術論文
論文出版年:2012
畢業學年度:100
語文別:英文
論文頁數:94
中文關鍵詞:阻抗控制負載補償人類與機械人合作
外文關鍵詞:impedance controlload compensationhuman-robot cooperation
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機械人一般使用位置控制時,會因系統的控制誤差或外界環境產生改變時,導致機構上之損壞,必須加入順應性控制。在人與機械人協同作業中,機械人根據操作者的導引進行作業,因此機械人必須具備順應外力,並產生適當順應性的能力。
本研究提出具負載補償策略之阻抗控制,除了使用阻抗控制賦予機械手臂順應能力之外,並考慮機械手臂夾取工作物件時,阻抗控制會因物件本身重力而產生錯誤的順應性,因此利用負載補償策略,扣除負載影響,讓機械手臂在進行位置/姿態阻抗控制時,可以獲得正確的力量/力矩資訊,使人類可與機械手臂順利完成協同任務。
在本研究實驗中,將使用具負載補償策略之阻抗控制,執行人類與機械人合作任務。當機械手臂夾持工作物件時,經由本研究所提出之負載補償策略,機械手臂可以扣除負載重力影響,且順應人類所施加力量/力矩資訊,進而達到位置/姿態的改變。從實驗結果得知,此控制器可以提供機械手臂具有良好的順應能力。
In position control, the manipulator needs only to follow a position trajectory. However, when the work environment is changing or the error of position command happened, both robot and environment could be damaged. It is necessary to join compliance control. In human-robot cooperation task, manipulator has to work with the guidance of operator. Manipulator must be have the ability to comply with external forces, and generates compliance ability.
In this study, impedance control with load compensation is proposed. Impedance control is applied to manipulator compliance ability, and considers the problem which is the gravity of load will generate error compliance ability. Therefore, using load compensation strategy to remove the influence of load, and manipulator could obtain accuracy forces/moments, when manipulator is used to do impedance control with human in human-robot cooperation task.
The experiment of this study, it will use the impedance control with load compensation to execute the human-robot cooperation task. When the gripper grasps a work object, gripper and work object is regarded a kind of loads for manipulator. This controller is used to remove the influence of load and applied to manipulator compliance ability to finish task. From the experimental results, this controller can provide manipulator has a good ability to comply forces exerted by human.
摘要 I
Abstract II
誌謝 IV
Contents V
List of Figures VIII
List of Tables XII
Chapter 1 Introduction 1
1.1 Background 1
1.2 Literature Review 2
1.2.1 Impedance control 3
1.2.2 Human-robot cooperation 5
1.3 Objects 9
Chapter 2 Research Methods 10
2.1 Robot arm kinematics 10
2.1.1 Homogeneous transformation 10
2.1.2 Denavit-Hartenberg convention 13
2.1.3 Forward kinematics 16
2.1.4 Inverse kinematics 21
2.2 Position-based impedance control 23
2.2.1 Impedance Control: position part 25
2.2.2 Impedance Control: orientation part 27
2.3 Load compensation strategy 30
2.3.1 The calibration of force sensor 30
2.3.2 Load compensation 35
2.4 Impedance control with load compensation 44
Chapter 3 Experimental Equipment 47
3.1 Actuator modules 48
3.1.1 Motors and drivers 48
3.1.2 Gear reductions 49
3.2 Interface cards 50
3.2.1 Motion control card 50
3.2.2 Data acquisition card 51
3.3 Sensors 52
3.3.1 Force-torque sensor 52
3.3.2 Optical sensor 53
3.4 The end-effector of manipulator 54
Chapter 4 Results and Analysis 55
4.1 Performance of impedance control 56
4.1.1 Experimental design for different impedance parameters 56
4.1.2 Experimental result and analysis 58
4.2 The experiment of estimation of loading 66
4.2.1 Gripper compensation 66
4.2.2 Experimental result and analysis 69
4.2.3 Load compensation 71
4.2.4 Experimental result and analysis 75
4.3 The experiment of human-robot cooperation 82
4.3.1 Human-robot cooperation task 82
4.3.2 Experimental result and analysis 83
Chapter 5 Conclusion and Future Work 88
5.1 Conclusion 88
5.2 Future work 88
REFERENCES 89
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