姿態量測與控制於機器人順應性工作的應用

Abstract

在本篇論文中，我們利用機器人靜態、動態、能量三種不同的量測觀 念，並根據順應性工作的要求來評定機器人的姿勢。過去的研究中，量測 方法只用於事先決定一個最佳的姿勢，而且經常只利用靜態的例子來說明 可以改善系統的效能。我們說明了靜態姿勢的好壞在動態控制系統中將看 不到，那也就是說，姿勢的好壞將由控制器所補償。然而，藉由效能量測 所決定的姿勢仍有減輕控制器負擔的作用，並對於控制法則的實踐有所幫 助。從另一方面來看，不同的姿勢用於順應性工作的不同部分，因此，根 據順應性工作的要求和環境，我們提出了姿態選取和控制方法來掌控一連 串的姿勢。因為多餘自由度機器人具有較好的操作性，我們利用它來執行 複雜的工作，並由模擬證明所提方法的有效性。 In this thesis, we propose using three different kinds of measures according to kinematic, dynamic, and energy senses to evaluate manipulator postures with respect to compliance task requirements. In previous researches, the measures were usually used to determine optimal postures in advance, and the improvement to system performances generally examined in a static manner. We show that postrues derived in static sense may fail in controlled dynamic systems; in the other word, the merits (deficiencies) caused by good (bad) postures can be compensated for by the controller. However, postures determined according to proper performance measures can still alleviate the burden of the controller and be helpful to the control strategy realization. On the other hand, different postures may be used in different phases of the compliance task. Thus, a posture selection and control scheme is proposed to govern the sequence of postures selected according to task requirements and environments. We develop the proposed scheme based on the redundant robot manipulators, because of their better manipulability in using complex task execution. Simulations that demonstrate the effectiveness of the proposed scheme are described.