臺灣博碩士論文加值系統

夾持物件後的雙機械臂系統，我們將其視為閉練的多體機械系統。建立此系統的動態方程式時，應用Lagrange Multiplier定理，可將系統的拘束方程式帶入動態方程式之中，求得拘束動態方程式。本文以控制Lagrange Multiplier控制法間接達到力量控制的觀念，應用於撓性關節機械臂系統上，在控制器的推導上，使用階層式的概念，將系統分解兩個二階系統，將撓性關節平面雙機械臂分解為兩個子系統手臂端系統與馬達端系統。為了解決系統參數不確定的問題，將順滑控制觀念導入Lagrange Multiplier控制法，設計順滑位置力量控制策略。最後由電腦數值模擬結果得知，本文所設計的控制法在具有參數誤差的情況下，仍可得到良好的控制效果。

Dual-arm robots holding an object can be seen as a closed chain multi-body mechanical system. The Lagrange multiplier theory can be used to derive the constrained dynamic equations of motor. This thesis extends the force control that Lagrange Multiplier is used to dual-arms robot with flexible joints. The original 4th order dynamic system is first decomposed into two subsystem, an arm system and a motor system, then a hierarchical controller is designed for these two subsystem. To overcome the problem of uncertain parameter, the concept of sliding control is employed to Lagrange Multiplier control, and then proposing the sliding controller. Simulation results show that both the position and force of the dual-arm system can be controlled effectively by the proposed control method.

致謝 I
中文摘要 II
ABSTRACT III
目錄 IV
圖目錄 VI
表目錄 VIII
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 平面撓性關節機械臂動態方程式 6
2.1 Lagrange 運動方程式 6
2.1.1 Lagrange法 6
2.1.2平面撓性關節單機械臂動態方程式推導 7
2.1.3平面撓性關節雙機械臂動態方程式推導 13
2.2 Lagrange Multiplier 定理 15
2.2.1 平面撓性關節雙機械臂動態方程式(含拘束方程式) 15
第三章 強健性順滑控制法 19
3.1 順滑控制法 19
3.2 關節座標階層式位置控制 22
3.2.1撓性關節機械臂-手臂端位置控制 22
3.2.2撓性關節機械臂-馬達端位置控制 24
3.2.3撓性關節機械臂-四階位置控制法 26
3.3 關節座標階層式位置力量控制 28
3.3.1撓性關節機械臂-手臂端 28
3.3.2撓性關節機械臂-手臂端位置控制 32
3.3.3撓性關節機械臂-手臂端力量控制 34
3.3.4撓性關節機械臂-馬達端 37
3.4 抖動 40
第四章 數值模擬 43
4.1 物件搬運 44
4.2 鉗子夾持 54
4.3 零件組裝 64
4.4 結果與討論 74
第五章 結論與未來展望 75
參考文獻 77

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