具線上環境估測能力之混合控制器設計

Abstract

在本論文中，我們對順應性運動控制及其不確定性的問題做了深入的探討 ，並且提出一個基於動態模型、且具線上環境估測能力的混合控制器設計 。傳統之混合控制器雖然具有同時控制力量及位置的優點，但是在應用上 卻存在一些限制，如非基於模型的設計以致無法證明其穩定度，選擇矩陣 的困擾，及未知的環境下無法操作等。因此本論文根據這些問題，以一個 基於模型的混合控制設計，解決穩定度及選擇矩陣的問題；並且將線上之 環境估測應用於控制設計中，使得本論文的控制設計不但仍保有同時控制 力量及位置的優點，而且亦能操作於未知的環境。我們將以模擬結果驗證 此控制設計之可行性。同時也以一單自由度機械手爪之力控制實驗，顯示 了混合控制的實際應用。 In this thesis, we investigate the problems of compliant motion control and the uncertainties of compliant motion. A generalized hybrid controller is developed based on the dynamic model of the manipulator. Uncertainties such as environment geometric relation and contact stiffness have been taken into consideration in this design. The hybrid control scheme is widely used to control both the position and force of the end- effector. However, some difficulties exist. For instance, the dynamics of the manipulator has not been taken account rigorously.So the stability of the position and force control is difficult to analyze. Fur- thermore, there exists space selection problem and it can not work in an unknown environment. In this thesis, we de- sign a new model-based hybrid control law to solve the stability and selection problems. We also apply on-line environment estimation to our hybrid control, allowing it work in an unknown environment. Simulation results show that this new hybrid control design has acceptable perfor- mance. Furthermore, an one-dimensional hybrid control im- plementation was carried out for force control of a mecha- nical gripper.