Please use this identifier to cite or link to this item: http://hdl.handle.net/11455/2426
DC FieldValueLanguage
dc.contributor陳昭亮zh_TW
dc.contributor林南州zh_TW
dc.contributor.advisor林仕亭zh_TW
dc.contributor.author劉醇達zh_TW
dc.contributor.authorLiou, Chun-Daen_US
dc.contributor.other中興大學zh_TW
dc.date2011zh_TW
dc.date.accessioned2014-06-05T11:43:18Z-
dc.date.available2014-06-05T11:43:18Z-
dc.identifierU0005-0908201018261800zh_TW
dc.identifier.citation[1]Hogan, N., 1985, “Impedance Control: an Approach to Manipulation. Part I - Theory,” ASME Journal of Dynamic Systems, Measurement, and Control, Vol.107, pp. 1-7. [2]Hogan, N., 1985, “Impedance Control: an Approach to Manipulation. Part II - Implementation,” ASME Journal of Dynamic Systems, Measurement, and Control, Vol.107, pp. 8-16. [3]Hogan, N., 1985, “Impedance Control: an Approach to Manipulation. Part III - Application,” ASME Journal of Dynamic Systems, Measurement, and Control, Vol.107, pp. 17-24. [4]Hogan, N., 1987, “Stable Execution of Contact Tasks Using Impedance Control,” IEEE International Conference on Robotics & Automation, Vol. 2, pp. 1047-1054. [5]Raibert, M.H. and Carig, J.J., 1981, “Hybrid Position/Force Control of Manipulators,” ASME Journal of Dynamic Systems, Measurement, and Control, pp.126-133. [6]Mason, M.T., 1981, “Compliance and Force Control for Computer Controlled Manipulators,” IEEE Transaction on Systems, Man and Cybernetics , Vol. SMC-11, pp.418-432. [7]Lin, S.T. and Huang, A.K., 1998, “Hierarchical Fuzzy Force Control for Industrial Robots,” IEEE Transactions on Industrial Electronics. [8]Lin, S.T. and Huang, A.K., 1997, “Position-Based Fuzzy Force Control for Dual Industrial Robots,” Journal of Intelligent & Robotic System, Vol. 19, No. 4, pp. 393-409. [9]Tarokh, M. and Bailey, S., 1996, “Force Tracking with Unknown Environment Parameters using Adaptive Fuzzy Controllers,” Proc. of the 1996 IEEE Int. Conference on Robotics and Automation, pp. 270-275 [10]Seraji, H. and Colbaugh, R., 1997, “Force Tracking in Impedance Control,” The International Journal of Robotics Research, Vol. 16, No. 1, pp. 97-117. [11]Lin, S.T. and Lee, J.S., 1996, “Adaptive Impedance Control For Robot Contact Tasks,” Journal of Engineering, National Chung-Hsing University, Vol.7, No. 1, pp.55-68. [12]Kuschewski, J. G., Hui, S. and Zak. S.H., 1993“Application of Feedforward Neural Network to Dynamical System Identification and Control,” IEEE Transaction on Control Systems Technology, Vol. 1, No. 1, pp.37-49. [13]Yamada, T., and Yabuta, T., 1993, “Dynamic System Identification Using Neural Networks,” IEEE Transactions on Systems, Man and Cybernetics, Vol. 23, No. 1. [14]Meng, Q.H.M. and Yao, Y.Y., 1994, “Design of Neural Network Controller for Robots Using Regressor Dynamics,” Proc. of IEEE International Conference on Neural Networks, Vol 5, pp. 2743-2748. [15]Fukuda, T., Shibata, T., Tokita, M. and Mitsuoka, T., 1992, “Neuromophic Control: Adaptation and Learning,” IEEE Transactions on Industrial Electronics, Vol. 39, No. 6, pp.21-27. [16]Okuma, S., Ishiguro, A., Furuhashi, T., Uchikawa, Y., 1990, “A Neural Network Compensator for Uncertainties of Robots Manipulators,” Proc. of IEEE Conference on Decision and Control, pp. 3303-3308. [17]Yegerlehner, J.D. and Meckl, P.H., 1992, “Neural Network Control for a Two-Link Manipulator Undergoing Large Payload Changes,” ASME Neural Networks in Manufacturing and Robotics, PED-Vol. 57, pp. 105-116. [18]Lin, S.T. and Tsai, H.C., 1997, “Impedance Control with On-line Neural Network Compensator for Dual-Arm Robots,” Journal of Intelligent & Robotic Systems, Vol. 18, No. 1, pp.87-104. [19]Tsuji, T., Ito, K. and Morasso, P.G., 1996, “Neural Network Learning of Robot Arm Impedance in Operational Space,” IEEE Transactions on System, Man, and Cybernetics-Part B: Cybernetics, Vol. 26, No. 2, pp. 290-298. [20]P. Tomei, 1991, “A simple PD control for robots with elastic joints,” on Autom. Contr., Vol. 36, no. 10, pp. 1208-1213, October 1991. [21]M. G. Forrest-Barlach and S. M. Babcock, “Inverse dynamics position control of a compliant manipulator,” Proc. Of IEEE Int. Conf. on Robotics and Automation, San Francisco, pp. 196-205,1986; IEEE J. of Robotics and Automation, RA-3, pp. 75-83,1987. [22]M. W. Spong and H. Sira-Ramirze, “Robust control of nonlinear sysems,” Proc. of the Ameri. Contr. Conf., Seattle, 1986. [23]M. W. Spong, “Adaptive control of flexible joint manipulators,” Syst. Contr. Lett., Vol. 13, pp. 15-21,1989. [24]F. T. Mrad and S. Ahmad, “Adaptive control of flexible joint robots using position and velocity feedback,” Int. J. Control, Vol. 55, no. 5, pp. 1255-1277, 1992 [25]S. Nicosia and P. Tomei, “A method to design adaptive controllers of flexible joint robots,” Proc. of the 1992 IEEE Int. Conf. on Rob. And Auto., Nice, France, May 1992. [26]G. Ferretti、G. A. Magnani and P. Rocco, “ Impedance control for elastic joints industrial manipulators,” IEEE Transactions on robotics and automation, Vol. 20, No. 3, June 2004 [27]A. C. Huang and M. C. Chien, “Design of a Regressor-free Adaptive Impedance Controller for Flexible-joint Electrically-driven Robots,” IEEE ICIEA, 2009 [28]P. Rocco, On “Stability and control of elastic joint robotic manipulators during constrained-motion tasks ,” IEEE Transactions on robotics and automation, Vol. 13, No. 3, June 1997 [29]R. Ozawa and H. Kobayashi, “A new impedance control concept for elastic joint robots ,” Proc. of the 2003 IEEE Int. Conf. on Rob. And Auto., Taipei, Taiwan, September 14-19. [30]王進德、蕭大全, “類神經網路與模糊控制理論入門,”全華科技圖書股份有限公司, 1994. [31] Kawato, M., Uno, Y., Isobe, M. and Suzuki, R., 1988, “Hierarchical Network Model for Voluntary Movement with Application to Robotics,” IEEE Control Systems Magazine, ”pp. 8-16. [32] Psaltis, D., Sideris, A. and Yamamura, A., 1988, “A Multilayered Neural Network Controller,” IEEE Control Systems Magazine, ” pp. 17-21.zh_TW
dc.identifier.urihttp://hdl.handle.net/11455/2426-
dc.description.abstract本文所討論的是用一種類神經式阻抗控制法,使撓性關節機械臂和環境接觸的力量控制中,在外在環境之參數未知的情況下,也能達到我們所要求的控制目標。此控制器是一阻抗控制器和線上學習式類神經網路所構成。類神經網路是用來學習在外在環境不確定的情況下,阻抗控制器之參考位置與接觸力的關係。假如阻抗控制器的參考位置輸入對於受控系統的輸出力量存在誤差時,即馬上利用線上學習機構來修正,並且同時調整類神經網路的權值,使控制系統能夠達到我們所要求的控制命令。最後再將以上所討論的各控制設計,以電腦模擬的方式來實現,並驗證與分析模擬結果。zh_TW
dc.description.abstractA neural-impedance controller for flexible joint robots contact motion is proposed in this thesis. The objective of this controller is to achieve desired contact force in face of unknown environment . This controller consists of an impedance controller and an online-training neural network. Neural network is used to learn the relation between the contact force and the reference position input in the impedance system with unknown environment. If it consists errors in contact force signal, the online-training mechanism can regulate the weight in the neural network to make the signal fits the force command. Simulation results show that the proposed neural-impedance controller has satisfactory performance.en_US
dc.description.tableofcontents誌謝 I 中文摘要 II ABSTRACT III 目 錄 IV 圖目錄 VI 表目錄 X 第一章 緒論 1 1.1論文大綱 1 1.2研究動機 1 1.3文獻回顧 4 第二章 動態方程式與阻抗控制法 10 2.1動態方程式之推導 11 2.1.1 Lagrange方程式 11 2.1.2平面撓性關節機械臂動態方程式的推導 12 2.2阻抗控制法 18 2.2.1 阻抗控制法介紹 18 2.2.2阻抗控制法理論推導 21 2.2.3 阻抗參數選取 32 第三章 類神經網路理論 36 3.1 類神經網路簡介 36 3.2神經網路訓練法介紹 40 3.3誤差逆向傳遞學習法 45 3.4類神經式阻抗控制法 51 第四章 模擬結果與討論 58 4.1 機械臂與外在環境接觸力量控制模擬 58 4.1.1系統設定 58 4.1.2平面環境力量控制模擬(外在環境知道的情況) 64 4.1.3非平面環境力量控制模擬 84 4.1.4平面環境力量控制模擬(外在環境未知的情況) 90 第五章 結論與未來展望 103 5.1 結論 103 5.2 未來展望 104 參考文獻 105 附錄 109 連桿動能推導 109zh_TW
dc.language.isoen_USzh_TW
dc.publisher機械工程學系所zh_TW
dc.relation.urihttp://www.airitilibrary.com/Publication/alDetailedMesh1?DocID=U0005-0908201018261800en_US
dc.subjectFlexible jointen_US
dc.subject撓性關節zh_TW
dc.subjectImpedance Controlen_US
dc.subjectNeural Networken_US
dc.subject阻抗控制zh_TW
dc.subject類神經網路zh_TW
dc.title類神經式阻抗控制法於撓性關節機械臂力量控制之應用zh_TW
dc.titleNeural-Impedance Control for flexible joint robots contact tasksen_US
dc.typeThesis and Dissertationzh_TW
item.languageiso639-1en_US-
item.openairetypeThesis and Dissertation-
item.cerifentitytypePublications-
item.grantfulltextnone-
item.fulltextno fulltext-
item.openairecristypehttp://purl.org/coar/resource_type/c_18cf-
Appears in Collections:機械工程學系所
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