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標題: 撓性關節雙機械臂之順滑位置與力量控制
Sliding Position and Force Control of Dual Arm Robot with Flexible Joints
作者: 林政佐
Lin, Cheng-Tsuo
關鍵字: 順滑控制;sliding mode control;撓性關節;Flexible Joints
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] Chien-Yu Ji, Yung-Lung Lee, and Tsung-Chien Chen, “Based on Genetic Algorithm and Input Estimation Approach to Design a Sliding Mode Controller for Flexible-Joint Robot Control System“22nd IEEE International Symposium on Intelligent Control Part of IEEE Multi-conference on Systems and Control ,pp481-486, October.2007 [15] 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 [16] J. Wittenburg and U. Wolz, “MESA VERGE: A Symbolic Program for Nonlinear Articulater Rigid Body Dynamics” ASME Design Engineering Technical Conference, 1985 [17] J.L. Chern and Y.C. Wu, “Integral variable structure controller approach for robot manipulators” IEE Proceedings D, Vol.139,pp.161-166,1992 [18] J.J.E. Slotine and S.S. Sastry, “Tracking control of nonlinear systers using sliding surfaces with application to robot manipulators” Int. J. Control, vol.38,pp.465-492,1983 [19] K.S. Yeung and Y.P.Chen, “A new controller design for manipulators using the theory of variable structure systems, “IEEE Trans. On Automation Control,Vol.33,pp.200-206,1988 [20] 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 [21] 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 [22] 陳永平,“可變結構設計“,全華圖書,1999
夾持物件後的雙機械臂系統,我們視之為閉鍊的多體機械系統。建立此系統的動態方程式時,應用Lagrange Multiplier 定理,則可將系統的拘束方程式代入動態方程式,進而求得拘束動態方程式。求解系統的拘束動態方程式,可得到Lagrange Multipliers藉以取代力量感測器;透過轉換計算,可得到物件的受力,進行力量控制。而上述的拘束動態方程式為一非線性系統,我們利用計算力矩法將其非線性項消除之後,進而設計順滑控制法,使系統軌跡從迫近模態至順滑模態,最後到達目標控制點,而在參數不確定性的情況之下,透過參數估測得到較精確的系統參數,藉以克服參數不確定性的問題。最後由電腦模擬可知,利用此理論架構進行平面撓性關節雙機械臂的位置及力量控制,可以得到良好的控制效果。

Dual-arm robots holding an 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 equation of motion, By applying Lagrange Multiplier theorem, the constrained equation of motion can be obtained, Solving the constrained equation of motion, we can get the Lagrange Multipliers, which can be used to calculate the force acting on the object held by dual-arm robots. However, the constrained equations of motion is a nonlinear system, the compute torque method can be used first to linear the system and the a sliding mode controller can be designed. When the computed torque method is used, an accurate dynamic model is required, This thesis presents a method for estimating the unknown inertial parameter of the dual-arm system with flexible joints.
Simulation results show that both the position and force of the dual-arm system can be controlled effectively by the proposed control method.
其他識別: U0005-1208201216185600
Appears in Collections:機械工程學系所

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