運用雙馬達於機器人關節之速度控制

Abstract

雙馬達的控制及應用已成為機器人學中一門新興的課題。本研究 目的在控制使用雙直流馬達及三個傘齒輪組成的機械手臂。這種設計 使關節得以有效率地利用兩顆馬達讓關節加減速，進而讓手臂可以做 快速往返的運動。本研究針對手臂關節速度作了實驗的量測。 基於雙馬達的致動作用，規劃給予兩顆馬達轉速以控制手臂的擺 動是此篇研究的精髓所在。當感測器發現手臂將衝撞物體時，就能夠 令一顆馬達加快轉速而另一顆馬達減速，達到手臂快速折返的效果。 這也使得折返所需的時間較單馬達手臂大大減少。 本研究為關節的速度控制設計了一組自調適模糊控制器，實驗比 較了單一馬達的性能以及雙馬達的性能。利用NI-9631運動控制卡， 即時控制一或兩顆馬達，然後經過傘齒輪組驅動機械手臂，實驗證實 機器人關節達到良好的速度控制。

Dual motor application and control has been an emerging technology in robotics in recent years. The objective of this research is to control a novel dual-motor robot, which consists of two motors and three bevel gears at each robot joint. This design allows the robot arm to reverse rapidly and effectively accelerate or decelerate by controlling the difference of speeds between two motors. This study carries out experiments to demonstrate the performance of velocity control. The use of speed difference between two DC motors to control the joint motion is carried out in this research. When touch sensors determine impact is about to happen, a motor speeds up, whereas the other slows down, such that the mechanical arm can reverse quickly. Hence, the capability of dual-motor robot reduces time in slowdown and reverses in comparison with the use of single motor. This thesis designed a self-tuning fuzzy controller to achieve dual motor robot joint velocity control. This thesis compares the performance of a single motor and dual motor, using NI-9631 motion control card, real-time controlling one or two motors, and then using the bevel gear set to drive mechanical arms. Experimental results show that dual motor robot joint achieves fine velocity control.