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標題: 撓性關節雙機械臂之順滑模糊控制
Sliding Fuzzy Control of Dual Arm Robot with the Flexible Joints
作者: 粘勝益
Nian, Sheng-Yi
關鍵字: 順滑面;Sliding
出版社: 機械工程學系所
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本文以控制Lagrange Multiplier間接達到力量控制的觀念,應用於撓性關節機械臂系統上,設計順滑面-位置控制與力量-模糊控制策略。雙機械臂挾持物件時,可視為閉鍊的多體系統,以切體法斷開,並建立拘束動態方程式,透過Lagrange Multiplier進行力量控制。為了解決系統參數不確定性問題,引入順滑面模糊控制於Lagrange Multiplier-控制法,並設計順滑面-位置模糊控制與力量模糊控制。最後由電腦數值模擬之結果得知,本文所設計之控制法在具有參數誤差情況下,仍可得到良好位置與力量追蹤。

This thesis presents position and force control scheme for dual-arm robots with flexible joints. Dual-arm robots holding an object can be seen as a closed chain multibody mechanical system . The cut-body method can be used to convert the system into two open chain systems. The Lagrange Multiplier theorem is used to derive a motion form of Lagrange Multiplier''s equation. Solving the dynamic equations , we can get Lagrange Multipliers , which can be used to calculate the force acting on the object held by dual-arm robots. To overcome the problem of uncertain parameters , design the contoller which combine sliding fuzzy with the Lagrange Multiplier''s control law is used to compensate the error caused by parameter uncertainties. The part of position is sliding fuzzy controller and the part of force is purely fuzzy controller in this thesis. From the computer simulation resaults , when the parameter error occurs , we could obtain the good control effects of dual-arm robot systems with the flexible joints.
其他識別: U0005-0808201215123400
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