臺灣博碩士論文加值系統

傳統的機械臂控制因未考量驅動器動態，而在高速運動下會使控制效能劣化。本篇論文考量了電氣特性，對高速運動的剛性機械臂提出了一個新的適應控制器。本篇新架構的控制器除了估測機械臂的物理與電氣模型之外，更大幅的減少了待估測參數。如此一來大幅降低硬體需求與計算時間。最後並以剛性二軸機械臂的電腦模擬，驗證此控制器的可用性。由結果顯示，本文所提出的方法使機械臂在減少估測量的情況下仍具備良好的性能。

Traditional controllers for robot manipulators give poor performance in high speed operations due to ignorance of actuator dynamics. This thesis proposes a new adaptive controller for robot manipulators in high speed trajectory following considering of actuator dynamics. The new structure not only estimate dynamics in the physical and electrical models of robot manipulators, but also keep the calculation requirement to a minimum to facilitate the real-time implementation. A 2-DOF rigid robot manipulator is used in the computer simulation to verify the efficacy of the proposed design.

摘要
Abstract 誌謝 目錄 圖片索引

第一章 緒論 第二章 機械臂適應控制回顧 2.1 機械臂動態模型 2.2 Craig的適應控制 2.3 Slotine and Li的適應控制 2.4 無迴歸矩陣的適應控制
2.5 Slotine and Li修正的控制器設計
第三章 考慮驅動器動態的適應控制 3.1 考量驅動器之動態模型 3.2 已知參數的EDRR控制回顧 3.3 EDRR之傳統適應控制回顧
3.4 無迴歸矩陣的適應控制回顧
3.5 新控制器設計
第四章 機械臂模擬分析 範例一 模擬架構 範例二 模擬結果
範例一 Slotine and Li方法 範例二 FAT-based 設計
範例三 新設計
第五章 結論
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