Please use this identifier to cite or link to this item: http://hdl.handle.net/11455/2404
標題: 撓性關節雙機械臂之回饋線性化控制
Feedback Linearization for the Control of Dual Arm Robot Systems with Flexible Joints
作者: 李宗憲
Lee, Tsung-Hsien
關鍵字: Feedback Linearization;回饋線性化
出版社: 機械工程學系所
引用: [1] L. M. Sweet and M. C. Good, “Redefinition on the robot motion control problem:effects of plant dynamics,drive system constraints,and user requirement” IEEE Conference on Decision and Control, pp. 724-732, 1984 [2] D. Li, J. W. Zu and A. A. Goldenberg, “Dynamic modeling and mode analysis of flexible-link, flexible-joint robots” Mechanism and Machine Theory, vol. 33, no. 7, pp. 1031-1044, Oct. 1998 [3] M. W. Spong, “Modeling and control of elastic joint robots” Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME, vol. 109, no. 4, pp. 310-319, Dec. 1987 [4] N. Hogan, “Impedance Control: an Approach to Manipulation. Part I - Theory” ASME Journal of Dynamic Systems, Measurement, and Control, vol. 107, pp. 1-7 ,1985 [5] N. Hogan, “Impedance Control: an Approach to Manipulation. Part II - Implementation” ASME Journal of Dynamic Systems, Measurement, and Control, vol. 107, pp. 8-16,1985 [6] N. Hogan, “Impedance Control: an Approach to Manipulation. Part III - Application” ASME Journal of Dynamic Systems, Measurement, and Control, vol. 107, pp. 17-24,1985 [7] N. Hogan, “Stable Execution of Contact Tasks Using Impedance Control” IEEE International Conference on Robotics & Automation, vol. 2, pp. 1047-1054,1987 [8] Christian Ott, “On the Passivity-Based Impedance Control of Flexible Joint Robots” IEEE International Conference on Robotics and Automation, Page(s): 416 - 429, 2008 [9] M. T. Mason, “Compliance and Force Control for Computer Controlled Manipulators” IEEE Transaction on Systems, Man and Cybernetics , vol. SMC-11, pp. 418-432, 1981 [10] M. H. Raibert and J. J. Craig, “Hybrid Position/Force Control of Manipulators” ASME Journal of Dynamic Systems, Measurement, and Control, pp.126-133, 1981 [11] Farooq, M.; Wang, D.B.; Dar, N.U., “Adaptive sliding-mode hybrid force/position controller for flexible joint robot” IEEE Transactions on Systems, Man and Cybernetics, Page(s): 724 - 731, 2008 [12] J. K. Mills and A. A. Goldenberg, “Force and Position Control of Manipulators During Constrained Motion Tasks” IEEE Trans. in Robotics and Automation, vol. 5,no. 4, pp. 30-46 , Feb. 1989 [13] K. P. Jankowski and H. Van Brussel, “Inverse dynamics task control of flexible joint robots - I continuous-time approach” Mechanism and Machine Theory, vol. 28, no. 6, pp. 741-749, Nov. 1993 [14] J. Wittenburg, “Nonlinear Equations of Motion for Arbitary System of Interconnected Rigid Bodies” Symposium on the Dynamics of Multibody System, Munich, Germany, Pro. Published by Spring-Verlag, K. Magnus, editor , 1987 [15] J. Wittenburg and U. Wolz, “MESA VERGE: A Symbolic Program for Nonlinear Articulater Rigid Body Dynamics” ASME Design Engineering Technical Conference, 1985 [16] Erbatur, K.; Vinter, R.B.; Kaynak, O., “Feedback linearization control for a 3-DOF flexible joint elbow manipulator” IEEE Transactions on Systems, Man and Cybernetics, Page(s): 2979 - 2984 vol.4, 1994 [17] Isidori, A. 1985. “Nonlinear Control Systems: An introduction.” New York: Springer-Verlag [18] Daly, J.M.; Schwartz, H.M., “Non-Linear Adaptive Output Feedback Control of Robot Manipulators” IEEE International Conference, 18-22 April 2005 Page(s):1687 - 1693 [19] Moghaddam, M.M.; Bazaei, A “On Approximate Feedback linearization of Robot Manipulators” IEEE International Conference on Robotics and Automation, 10-12 June 2003 Page(s):178 - 182,2003 [20] Slotine.Li, “Applied Nonlinear Control” published by Person Education, Inc, publishing as Prentice Hall, Copyright 1991 by Prentice Hall, Inc: Page(s): 311-388
摘要: 
本文讓平面撓性關節雙機械臂在不使用力量感測器且系統參數不確定的情況下,進行位置及力量控制。夾持物件後的雙機械臂系統,我們視之為閉鏈的多體機械系統。建立此閉鏈系統的動態方程式時,應用Lagrange Multiplier定理,可以將系統的拘束方程式引入動態方程式中,然後得到拘束動態方程式。不過上述拘束動態方程式為一非線性系統,因此我們利用回饋線性化法將拘束動態方程式線性化後進行控制。透過求解拘束動態方程式,可以求得Lagrange Multipliers,經由轉換計算,我們可以由求得的Lagrange Multipliers計算出物件的受力,進而進行力量控制,並且透過參數估測可以得到較精確的系統參數,藉此克服參數不確定的問題。最後由電腦模擬得知,透過參數估測的設計,在進行雙機械臂的位置及力量控制,即使發生參數的誤差,也可以得到良好的控制效果。

The thesis simulates position/force control of dual arm robot systems with flexible joints without force sensors in the parameter uncertainty situation. Dual-arm robots holding with the object can be seen as a closed chain multi-body mechanical system. During establishing the equation of motion of the closed chain multi-body mechanical system, one can introduce the constrained equations into equations of motion, by applying Lagrange Multiplier theorem, and then obtain the constrained equations of motion. However, the constrained equations of motion is a nonlinear system, we let it be linear by using feedback-linearization, carry on the control. Solving the constrained equations of motion, one can get the Lagrange Multipliers, which can be used to calculate the force acting on the object held by dual-arm robots and use parameter estimation to overcome parameter uncertainty. Finally, we obtain the good control effects of dual arm robot systems with flexible joints without force sensors in the parameter uncertainty by the computer simulations.
URI: http://hdl.handle.net/11455/2404
其他識別: U0005-0508201014420700
Appears in Collections:機械工程學系所

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