跳到主要內容

臺灣博碩士論文加值系統

(18.97.14.86) 您好!臺灣時間:2025/02/20 05:33
字體大小: 字級放大   字級縮小   預設字形  
回查詢結果 :::

詳目顯示

: 
twitterline
研究生:林顯東
研究生(外文):Hshien-Tung Lin
論文名稱:基於模糊控制器於五軸機械手臂目標追蹤之應用
論文名稱(外文):FUZZY LOGIC CONTROLLER APLLICATION FOR FIVE JOINT ROBOTIC MANIPULATOR OBJECT TRACKING
指導教授:呂虹慶
指導教授(外文):Hung-Ching Lu
口試委員:呂虹慶
口試委員(外文):Hung-Ching Lu
口試日期:2017-07-03
學位類別:碩士
校院名稱:大同大學
系所名稱:電機工程研究所
學門:工程學門
學類:電資工程學類
論文種類:學術論文
論文出版年:2017
畢業學年度:105
語文別:中文
論文頁數:62
中文關鍵詞:模糊控制遞迴最小平方法正運動學逆運動學超音波感測器五軸機械手臂
外文關鍵詞:five joint robot manipulatorinverse kinematicultrasonic sensorfuzzy controlforward kinematicrecursive least square (RLS) estimation.  
相關次數:
  • 被引用被引用:0
  • 點閱點閱:190
  • 評分評分:
  • 下載下載:20
  • 收藏至我的研究室書目清單書目收藏:0
本研究主要為改良五軸機械手臂夾取準確度,並分成兩個部分討論。第一部分建立五軸機械手臂動態模型,以正逆運動學推導出機械手臂之工作範圍並將其數據化,利用遞迴最小平方(RLS)法計算出模型化數值的誤差,推導出對應之數學式。第二部分為超音波感測器對目標物體之感測值,並利用模糊控制器求得物體平面的範圍與中心點。此外藉由超音波感測器來測量機械手臂與目標物體之間的距離,並當作參數訊號回傳給控制器。本文同時運用模糊化超音波感測器數值,來提升控制器對目標物的判別,改良機械手臂目標追蹤夾取的效能。
In order to improve the accuracy of five-joint manipulator gripping, the proposed method can divide into two steps. First, the dynamic model of five-joint manipulator is built via forward kinematic and inverse kinematic, which establish the mathematical model by recursive least square (RLS) estimation. Next, by using the sensor value of ultrasonic sensor via fuzzy controller, the plane area and the center of the object can be obtained. Besides, the distance between manipulator and object is detected as the feedback control signal. Furthermore, the values of ultrasonic sensor are fuzzified to improve the performance of target discrimination and target tracking.
目錄
摘要 i
ABSTRACT ii
目錄 iii
圖目錄 v
第一章 緒論 1
第二章 研究背景 5
2.1模糊模型 (Fuzzy Model) 6
2.2遞迴最小平方法(Recursive Least Squares estimation) 9
2.3運動學(Kinematic) 13
2.4五軸機械手臂簡介 15
2.5硬體設備規格 16
第三章 機械手臂運動學 21
3.1數學符號建立 23
3.2正運動學(Forward Kinematics) 26
3.3逆運動學(Inverse Kinematics) 28
第四章 運動學模擬 35
4.1手臂工作點數據圖 36
4.2建立機械手臂遞迴最小平方演算法 40
4.3機械手臂動作數據庫 41
第五章 模糊模型建立 42
第六章 實驗結果 45
6.1實驗注意事項 45
6.2實驗流程 46
6.3機械手臂實際模擬結果 48
第七章 結論 51
參考文獻 52
參考文獻
[1]L. W. Tsai, “Robot Analysis: the Mechanics of Serial and Parallel Manipulators,” John Wiley & Sons, 1999.
[2]W. S. Mark, and M. Vidyasagar, “Robot Dynamics and Control.” John Wiley & Sons, 2008.
[3]N. Vacharakornrawut, T. Thepmanee, A. Rerkratn, and S. Pongswatd, “Converting TCP to Joints Value of 6-DOF Robot Based on Forward and Inverse Kinematic Analysis,” Proceeding in 2016 13th Interna-tional Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology (ECTI-CON), Chiang Mai, pp. 1-6, 2016.
[4]J. Oh, H. Bae, and J. H. Oh, “Analytic Inverse Kinematics Considering the Joint Constraints and Self-Collision for Redundant 7DOF Manipulator,” Proceeding in 2017 First IEEE International Conference on Robotic Computer (IRC), pp. 123-128, 2017.
[5]R. R. Dam, H. Biswas, S. Barman, and A. Q. Ahmed, “Determining 2D Shape of Object Using Ultrasonic Sensor,” Proceeding in 2016 3rd International Conference on Electrical Engineering and Information Communication Technology (ICEEICT), pp. 1-5, 2016.
[6]C. C. Kung and T. H. Chen, “Observer-Based Indirect Adaptive Fuzzy Integral Sliding Mode Control with State Variable Filters,” Fuzzy Sets and Systems., Vol. 155, no. 2, pp. 292–308, 2005.
[7]D. Vyas, J. Ohri, and A. Patel, “Comparison of Conventional &
Fuzzy Based Sliding Mode PID Controller for Robot Manipulator,” Proceeding in 2013 International Conference on Individual and Collective Behaviors in Robotics (ICBR), Sousse, pp. 115-119, 2013.
[8]Z. Mu, B. Zhang, W. Xu, B. Li, and B. Liang, “Fault Tolerance Kinematics and Trajectory Planning of a 6-DOF Space Manipulator Under a Single Joint Failure,” Proceeding in 2016 IEEE International Conference on Real-time Computing and Robotics (RCAR), Angkor Wat, pp. 483-488, 2016.
[9]L. A. Zadeh, “Outline of a New Approach to the Analysis of Complex Systems and Decision Processes,” IEEE Transactions on Systems, Man, and Cybernetics, Vol. 3, no. 1, pp. 28-44, Jan., 1973.
[10]J. Song, Y. Niu, J. Lam, and H. K. Lam, “Fuzzy Remote Tracking Control for Randomly Varying Local Nonlinear Models under Fading and Missing Measurements,” IEEE Transactions on Fuzzy Systems, Vol. 17, pp.1-13 , 2017.
[11]L. Zhang, L. Ge, X. Su, and J. Zeng, “Fuzzy Logic Based Vertical Handover Algorithm for Trunking System,” Proceeding in 2017 26th Wireless and Optical Communication Conference (WOCC), Newark, NJ, USA, pp. 1-5, 2017.
[12]A. Hemami, “Kinematics of Two-Arm Robots,” IEEE Journal on Robotic manipulator and Automation, Vol. 2, no. 4, pp. 225-228, 1986.
[13]L. X. Wang, “A Course in Fuzzy Systems and Control,” Englewood Cliffs, NJ: Prentice-Hall, 1997.
[14]S. Kucuk and B. D. Gungor, “Inverse Kinematics Solution of A New Hybrid Robot Manipulator Proposed for Medical Purposes,” 2016 Medical Technologies National Congress (TIPTEKNO), Antalya, pp. 1-4, 2016.
[15]V. J. Lemelsky, “Effect of Kinematics on Motion Planning for Planar Robot Arms Moving Amidst Unknown Obstacles,” IEEE Journal of Robotic Manipulator and Automation, Vol. 3, no. 3, pp.207-223, 1987.
[16]B. G. Ros, V. L. Knoop, B. V. Arem, and S. P. Hoogendoorn, “Empirical Analysis of the Causes of Stop-And-Go Waves at Sags,” Intelligent Transport Systems, Vol. 8, no. 5, pp. 499-506, 2014.
[17]V. Milanes, J. Villagra, J. Godoy, and C. Gonzalez, “Comparing Fuzzy and Intelligent PI Controllers in Stop-and-Go Manoeuvres,” IEEE Transactions on Control Systems Technology, Vol. 20, no. 3, pp. 770-778, 2012.
[18]C. S. G. Lee and M. Ziegler, “Geometric Approach in Solving Inverse Kinematics of PUMA Robots,” IEEE Transactions on Aerospace and Electronic Systems, Vol. 20, no. 6, pp. 695-706, 1984.
[19]C. Singh, A. Agnihotri, and P. Patel, “Development of Radar Using Ultrasonic Sensor,” Journal of Advance Research In Science and Engineering, IJARSE, Vol. 2, no. 10, pp.33-38, 2013.
[20] A. Tedeschi, S. Calcaterra, and F. Benedetto, “Ultrasonic Radar System (URAS): Arduino and Virtual Reality for a Light-Free Mapping of Indoor Environments,” IEEE Journal of Sensors, Vol. 17, no. 14, July 15, 2017
[21]B. N. Saeed, “Introduction to Robotic Manipulator Analysis, Systems, Application,” Prentice Hall, 2013.
[22]J. C. John, “Introduction to Robotic Manipulator Mechanics and Control,” West, 2013.
[23]A. Gilat, “Matlab an Introduction with Applications,” Wiley, 2004.
[24]S. Cubero “Industrial Robotic manipulator: Theory, Modelling and Control,” InTechOpen, 2006.
[25]T. Thepmanee, J. Sripituk, and P. Ukakimapurn, “A Simple Technique to Modeling and Simulation Four-Axe Robot-Arm Control,” Proceeding in 2007 International Conference on Control, Automation and Systems, Seoul, pp. 2180-2185, 2007.
[26]H. Moravec and A. Elfes, “High Resolution Maps from Wide Angle Sonar,” Proceeding in IEEE International Conference on Robotic manipulator and Automation, pp. 116-121, 1985.
[27]H. Ananthanarayanan and R. Ordóñez, “Real-time Inverse Kinematics of (2n+1) DOF Hyper-Redundant Manipulator Arm Via a Combined Numerical and Analytical Approach,” Mechanism and Machine Theory, pp. 209-226, 2015.
[28]M. Shimizu, H. Kakuya, W. K. Yoon, K. Kitagaki, and K. Kosuge, “Analytical Inverse Kinematic Computation for 7-DOF Redundant Manipulators with Joint Limits and its Application to Redundancy Resolution,” IEEE Journal of Transactions on Robotic manipulator, Vol. 24, pp. 1131-1142, 2008.
[29]C. Yu, M. Jin, and H. Liu, “An Analytical Solution for Inverse Kinematic of 7-DOF Redundant Manipulators with Offset-Wrist,” Proceeding in 2012 IEEE International Conference on Mechatronics and Automation, pp. 92-97, 2012.
[30]H. H. An, W. I. Clement, and B. Reed, “Analytical Inverse Kinematic Solution with Self-Motion Constraint for the 7-DOF Restore Robot Arm,” Proceeding in 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, pp. 1325-1330, 2014.
QRCODE
 
 
 
 
 
                                                                                                                                                                                                                                                                                                                                                                                                               
第一頁 上一頁 下一頁 最後一頁 top