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Hierarchical Computed Torque Method of Planar Dual Arm Robot with Flexible Joints
|關鍵字:||階層式;Hierarchical;計算力矩法;撓性關節;平面雙機械臂;Computed Torque;Flexible Joint||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 analy-sis 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 Dy-namic 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 - Im-plementation” 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 ] C. Ott, A. Albu-Schaffer, A. Kugi and G. Hirzinger, “Decoupling based carte-sian impedance control of flexible joint robots” IEEE International Conference on Robotics and Automation, vol. 3, pp. 3101-3107, 2003 [ 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 Manipu-lators” ASME Journal of Dynamic Systems, Measurement, and Control, pp.126-133, 1981 [ 11 ] J.T. Wen and K. Kenneth, “Motion and force control of multiple robotic manipulators” Automatica, vol. 28, no. 4, pp. 729-743, 1992. [ 12 ] E. Bassi, F. Benzi, L. M. Capisani, D. Cuppone and A. Ferrara, “Hybrid po-sition/force sliding mode control of a class of robotic manipulators” Proceedings of the IEEE Conference on Decision and Control, pp. 2966-2971, 2009, Proceed-ings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009 [ 13 ] S. Ahmad, “Constrained motion (force/position) control of flexible joint robots” IEEE Transactions on Systems, Man and Cybernetics, vol. 23, no. 2, pp. 374-381, Mar.-Apr. 1993 [ 14 ] J. K. Mills and A. A. Goldenberg, “Force and Position Control of Manipu-lators During Constrained Motion Tasks” IEEE Trans. in Robotics and Automa-tion, vol. 5,no. 4, pp. 30-46 , Feb. 1989 [ 15 ] N. H. McClamroch and D. Wang, “Feedback Stabilization and Tracking of Constrained Robots” IEEE Transaction on Automatic Control, vol. 33, no. 5, pp. 419-426, May. 1988 [ 16 ] 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 [ 17 ] J. Wittenburg, “Nonlinear Equations of Motion for Arbitary System of In-terconnected Rigid Bodies” Symposium on the Dynamics of Multibody System, Munich, Germany, Pro. Published by Spring-Verlag, K. Magnus, editor , 1987 [ 18 ] J. Wittenburg and U. Wolz, “MESA VERGE: A Symbolic Program for Non-linear Articulater Rigid Body Dynamics” ASME Design Engineering Technical Conference, 1985 [ 19 ] Lewis, F. L., Abdallah, T. A., Dawson, M. D.,” Control of Robot Manipula-tors,” Macmillan Publishing Company, 1993. [ 20 ] Craig, J. J.,” Adaptive Control of Mechanical Manipulators” Addison Wes-ley, 1988. [ 21 ] Daly, J.M.; Schwartz, H.M., “Non-Linear Adaptive Output Feedback Con-trol of Robot Manipulators” IEEE International Conference, 18-22 April 2005 Page(s):1687 – 1693 [ 22 ] 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 [ 23 ] 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:||
本文採用階層式計算力矩法控制平面撓性關節雙機械手臂。首先將撓性關節機械臂分為兩個子系統「手臂端」與「馬達端」。當雙機械臂在夾持物件時，可以將之視為一閉鏈多體機械系統，引入切體法後可將系統轉化為開鏈多體機械系統。再利用Lagrange Multiplier 定理推導機械臂之拘束型動態方程式，藉由求解拘束型動態方程式，將機械臂在做物件夾持時手臂末端所受之外力計算出來。接著本文導入參數估測定用以理克服慣量參數不確定之問題，最後以電腦模擬的方式進行控制法則與參數估測理論之驗證。
In this thesis, a hierarchical computed torque method is proposed to control a planar dual arm robot with flexible joints. First, a planar dual arm robot with flexible joints
is separated into two subsystems, one is called robot arm subsystem and the other is called motor subsystem. Dual-arms robots holding an object can be seen as a closed chain multibody mechanical system and they are converted into two open chain systems by using cut-body method. The constraint equation of motion is derived by Lagrange Multiplier theory. The theory can be used to calculate the force acting on the object hold by the dual-arms robot and it will be obtained by solving the constraint equation of motion. To overcome the problem of uncertainty of the inertial parameters, a parameter estimation algorithms is derived. Finally, computer simulation results show that the proposed control method and the parameter estimation algorithm have atisfactory performance.
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