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    Please use this identifier to cite or link to this item: http://ccur.lib.ccu.edu.tw/handle/A095B0000Q/126


    Title: 阻抗控制應用於五軸機械手臂;The application of impedance control in five joints robotic arm
    Authors: 吳信毅;WU, SIN-YI
    Contributors: 機械工程系研究所
    Keywords: 順應性;阻抗控制;五軸機械手臂;Impedance Control;Compliance;Robotic Arm;Manipulator
    Date: 2018
    Issue Date: 2019-05-23 12:52:38 (UTC+8)
    Publisher: 機械工程系研究所
    Abstract: 現今科技中,機械手臂應用範圍相當廣泛,根據不同的任務目標就有不同的控制方法,但是就算方法再多,還是必須考慮其安全性。在機械手臂操作不當時,會與環境力接觸時或者是不小心的人為接觸,都會可能造成機械手臂本身硬體與操作員的損傷,因此機械手臂在一般的位置控制時還必須具備力量控制之順應能力。本研究中根據阻抗控制理論設計出讓機械手臂具有阻尼與剛性特性之阻抗控制。跟一般阻抗控制來比較,大多使用力量感測器或加速規來回授控制,在本研究僅靠編碼器來回授位置以及速度,讓機械手臂達到順應效果,安全性也提升。在本研究中所採用機械手臂為五個關節軸馬達,亦即擁有5自由度水平關節型(SCARA)的機械手臂。首先針對其構造推導出順向運動學、逆向運動學與微分運動學,模擬所設計阻抗控制法則應用在本系統上的可行性與穩定性。最後實驗上,當機械手臂在命令直線路徑與圓路徑上運動時,手持荷重元分別施力於運動中機械手臂終端器XYZ方向,利用頻譜圖來分析出輸入位置誤差與輸出的力量比較於所設計的期望目標阻抗,從研究結果來探討出其差異性不大,確實有達到順應的效果。
    Robotic arms has wide range of application of modern industry. Each tasks has its own control strategy, but most of them does not concern about safety. There is always a chance to operate robotic arm incorrectly. When incorrect operation happens. Robotic arms may crash into something or someone that causing damage or injury. That is the reason compliance control is needed. In this study, impedance control is implemented. For general case, impedance control require force sensor. In this study, only position and speed information from motor encoder is used to achieve compliance control.A five joint selective compliance assembly robot arm is under study, this study focus on its forward kinematics, inverse kinematics, differential kinematics, impedance control design, numeric simulation and experiment. A circular and straight motion is designed. Data from both hand held load cell and motor encoder is compared via frequency domain analysis to validate controller design.
    Appears in Collections:[機械工程學系] 學位論文

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