使用順滑模態理論的機械手臂力量與位置控制

Abstract

對工程界而言,機械手臂扮演的角色越來越重要對工程界而言，機械手臂 扮演的角色越來越重要。由於工業用機械手臂的用途甚廣，故其成為實現 自動化系統的重要利器。很多機械手臂的工作常常需要與工作環境做接觸 ，這也就是所謂的拘束動作。為了使機械手臂的操作變的有效率，故其因 接觸所產生的互動力需要適當的加以控制而非忽略。 本論文對 機械手臂同時施力與移動的問題，設計了一個無需量測工作環境剛性值的 強健性控制器。借由分析受拘束的動作行為，對受力環境模型和其運動行 為做了一些適當的假設。控制器的設計採用了無抵達狀態順滑模態控制技 巧，不僅易於實現且能在工作環境剛性值不確定的條件之下即可達成相當 不錯的位置和施力控制效果。數值模擬的結果證明控制器的性能相當優越 The role of robots is getting important in engineering. Industrial robots have gained a very wide popularity as essential components for the realization of automated manufacturing systems. Lots jobs assigned to robot demand a dynamic interaction , so called constrained motion, with the environment. To effectively operate a robotic manipulator, the interacting force between the robot and the environment should be accommodated rather than rejected. A robust force/position controller of a robotics manipulator without estimating the environment stiffness is proposed in this thesis. The constrained behavior has been analyzed to make some suitable assumptions of environment model and contact conditions. The presented control scheme without reaching phase is able to achieve excellent position and force with unknown environment stiffness. This controller is laconic and easy to implement. Simulation results are included to demonstrate the success of the proposed controller.