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Sliding Fuzzy Control of Dual Arm Robot with the Flexible Joints
|關鍵字:||順滑面;Sliding||出版社:||機械工程學系所||引用:|| 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  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  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  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  Christian Ott, “On the Passivity-Based Impedance Control of Flexible Joint Robots” IEEE International Conference on Robotics and Automation, Page(s): 416 - 429, 2008  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  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  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  R. P. Paul,"Modeling , Trajectory Calculation,and Servoing of a Computer Controlled arm",1972  B. Markiewicz,"Analysis of the Computed Torque Drive Methed and Comparison with Conventional Position Servo for a Computed-Controlled Manipulator" Jet Propusion Laboratory Technical Memo 33-601,Mar.c973  J. J. Craig,"Adaptive Control of Mechanical Manipulators." Addi-son Wesley,1988  Zak M. “Terminal Attractors for Addressable Memory in Neural Networks.” Physics Letter, 33(12),pp.18-22, 1988  Wang W J,Lu S S,Hsu C F. “Experiments on the position control of a one-link flexible robot arm.” IEEE Trans. on Robotics and Automation,  Lee J H,Youn M J. "A new integral variable structure regulation controller for robot manipulator with accurately predetermined output." ISIE''99,Bled,1999  J.L. Chern and Y.C. Wu, “Integral variable structure controller approach for robot manipulators” IEE Proceedings D, Vol.139,pp.161-166,1992  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  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  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  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  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  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  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  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  陳永平, “可變結構設計“,全華圖書,1999||摘要:||
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.
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