單軸撓性手臂定力控制

Abstract

這篇論文中，我們提出一種類似有限元素法的架構，用來分析單軸撓性手 臂定力控制的問題。首先在推導受力模型時，發現在臂尾端作用力是跟馬 達的轉角與撓性臂的形變有關係式存在。由上面得到的關係，可以知道撓 性臂定力控制的問題可轉換成要對臂定位控制的問題。接下來，設計一個 PD控制器解決定力控制。我們建立一套實驗的設備，這裡利用影像系統量 測臂的振動偏移量與編碼器量取馬達的角度。最重要的是在實驗中並沒有 使用力感測器迴授。最後是模擬與實作圖形的展現。 In this paper, a scheme similiar to the finite element method is proposed to model a flexible arm which tip position is placed on a fixed plane. We first describe the reaction force at the tip position which is related to the motor angle and the beam deflection. That problem on this fact, the force control problem can be transformed into a position contro problem of the flexible arm. Further a force controller of the flexible arm is designed by the PID control. A vision system is used to measure the beam deflection. A set of experiments for the force control of the flexible arm withuot using a force sensor has been carried out. Several experimental results are showen for demonstration.