Please use this identifier to cite or link to this item: http://hdl.handle.net/11455/8425
DC FieldValueLanguage
dc.contributor楊文然zh_TW
dc.contributor.advisor蘇武昌zh_TW
dc.contributor.author劉允存zh_TW
dc.contributor.authorLiu, Yun-Tsunen_US
dc.contributor.other中興大學zh_TW
dc.date2011zh_TW
dc.date.accessioned2014-06-06T06:41:32Z-
dc.date.available2014-06-06T06:41:32Z-
dc.identifierU0005-0302201001595100zh_TW
dc.identifier.citation參考文獻 [1]洪介仁,車與桿倒單擺系統之平衡控制,成功大學碩士論文,民 國92年7月。 [2]陳培慶,自走式倒單擺之原型製作與數位設計,中興大學碩士論 文,民國92年7月。 [3]林志鴻,可變結構控制法應用於無感氣壓缸倒單擺系統之探討, 中興大學碩士論文,民國92年7月。 [4]劉宗楊,晶圓輸送機械手臂之動力學分析、運動控制及軌跡規劃 研究,中原大學碩士論文,民國89年6月。 [5]晉茂林,機器人學,五南圖書出版股份有限公司,2005。 [6]李宜達,控制系統設計與模擬,全華科技,2008。 [7]魏克新、王雪亮、陳志敏,自動控制系統設計與MATLAB語言, 全 華科技圖書股份有限公司,1999。 [8]林俊良,智慧型控制:分析與設計,全華科技,2008。 [9]King-Sun FU, Rafael C. Gonzalez and C. S. George Lee, ROBOTICS: Control, Sensing, Vision and intelligence, McGraw-Hill, New Yourk,1987. [10]John J Craig , Introduction to Robotics Mechanics and Control, ed, Pearson Education, Massachusetts, 2005. [11]W.Keith Nicholson, Elementary Linear Algebra, McGraw- Hill, New Yourk, 2001. [12]Lijuan Zhang, Yaging Tu, “ Research of Car Inverted Pendulum Model Based on Lagrange Equation,” in Proceedings of the 6th Word Congress on Intelligent Control and Automation, June21-23, 2006, Dalian, China. [13]Zibo Kang,Yingjie Yin,Seizo Fujii Tainyou Chai, “ Gain- Scheduling H∞ vibration control for SCARA type robot manipulators via LMIs,” in Proceedings American Control Conference, Albuquerque, New Mexico, June 1997. [14]Fu Caifen, Tan Wen, Liu Jizhen, “ Synthesis with Regional Pole Assignment for an Inverted Pendulum,” in Proceedings of Chinese Control Conference 7-11 August, 2006, Harbin, Heilongjiang. [15]Wu Jun-Feng , Liu Cuun-tao,Deng Youn,“ Variable Structure Control for Stabilizing Double Inverted Pendulum,” in Proceedings International Conference on Intelligent Computation Technology and Automation, 2008. [16]Bernhard Sprenger, Ladislav Kucera, Safer Mourad,“ Balancing of an inverted pendulum with a SCARA robot,” IEEE/ASME Transaction on Mechatronics, vol. 3, no. 2, pp.91-96, June 1998. [17]Chin-Gook Lhee, Jae-Sam, Hyun-Sik Ahn, and Do-Hyun Kim, “ Sliding mode-like fuzzy logic control with self- tuning the dead zone parameters,” IEEE Transaction on Fuzzy System, vol. 3, no. 2, pp.343-348, April 2001. [18]www.cmsnl.com [19]www.vieartificielle.com [20]www.modernmobilitynews.comzh_TW
dc.identifier.urihttp://hdl.handle.net/11455/8425-
dc.description.abstract本文目的利用水平式機械手臂(Selective Compliant Assembly Robot Arm)及拖承於手臂末端之倒單擺,來發展一個倒單擺與機械手臂平衡移動控制法則。我們使用D-H (Denavit-Hartenberg)法及座標轉換法,求出機械手臂末端速度,並運用Lagrange方程式來建立系統之數學模型,而機械手臂結合倒單擺之動態方程式及運動行為,均由這個數學模型全然呈現。 平衡移動控制採用離線(off-line)與線上(on-line)兩階段設計,首先在設定的機械手臂運動軌跡中,選定數個操作點,分別在這些操作點進行動態模型之區域線性化,再以off-line設計的方式,也就是受控體與控制器在無連結的狀態,利用極點配置法求得這些操作點的狀態回授增益。而在on-line操作時,我們應用模糊理論與最小平方法,於兩個鄰近操作點間的手臂運動軌跡上,估算出連續的回授增益,並比較模糊理論與小平方法所估測的回授增益對本控制系統之影響。 最後,我們在一個固定的時間週期上,將時間週期分成兩個部份,第一部份運用開迴路控制法則,給動態系統一個固定的外力,迫使機械手臂從初始角度往目標角度前進,在第一部分時間結束後,立即切換到第二部份,運用閉迴路控制法則保持倒單擺垂直平衡。在開迴路、閉迴路的切換過程中,當機械手臂到達目標位置附近時,我們將系統切換到閉迴路控制模式,讓控制器將倒單擺保持在垂直平衡狀態,並將機械手臂追蹤到目標位置。zh_TW
dc.description.abstractThe objective of this thesis is to develop a balancing movement control law for a SCARA (Selective Compliant Assembly Robot Arm) robot, on which an inverted pendulum is mounted. The dynamic equations, which govern the motions of both the robot arm and the inverted pendulum altogether, are derived by using the Denavit-Hartenberg method with coordinate transformations and the Lagrange equations. For the balancing movement control design, several pole-placement feedback gains are first obtained (off-line). They are to locally stabilize the linearized dynamic model at the preselected operating points, which define the robot arm movement trajectory. In between the adjacent operating points, a set of fuzzy rules is applied on-line to interpolate the feedback gains along the trajectory. Finally, to enforce movements of the robot arm from the initial position to the destination position, a fixed magnitude, open-loop control law is applied for a short time period to perturb the arm and then the control law switches to the aforementioned closed-loop state feedback to maintain balance for the inverted pendulum for another short period of time. Such an alternating open-loop versus closed-loop control cycle is maintained until the SCARA robot reaches its destination position, when the control law is switched permanently to the closed-loop state feedback.en_US
dc.description.tableofcontents致謝 i 中文摘要 ii 英文摘要 iii 目錄 iv 圖目錄 v 表目錄 vi 符號說明 vii 第一章 緒論 1.1 研究動機 1 1.2 文獻回顧 3 1.3 論文架構 4 第二章 機械手臂運動座標系 2.1 D-H座標轉換法簡介 6 2.2 機械手臂速度 8 2.3 SCARA機械手臂之位置及速度 15 第三章 系統動態模型 3.1 倒單擺及機械手臂數學模型建立 18 3.2 動力方程式驗證 23 3.3 開回路非線性模型驗證 25 第四章 機械手臂移動與倒單擺平衡控制設計 4.1 線性化之廣義數學模型 30 4.2 極點安置控制設計 35 4.3 回授增益估測 42 4.4 切換式迴路於手臂位置與倒單擺平衡控制 51 第五章 結論與展望 5.1 結論 60 5.2 展望 60 參考文獻 61zh_TW
dc.language.isoen_USzh_TW
dc.publisher電機工程學系所zh_TW
dc.relation.urihttp://www.airitilibrary.com/Publication/alDetailedMesh1?DocID=U0005-0302201001595100en_US
dc.subjectSCARAen_US
dc.subject水平式機械手臂zh_TW
dc.subjectinverted pendulumen_US
dc.subjectbalancing movement control lawen_US
dc.subjectD-Hen_US
dc.subjectLagrangeen_US
dc.subject倒單擺zh_TW
dc.subject平衡移動控制法則zh_TW
dc.title水平式機械手臂托承倒單擺系統之平衡移動控制zh_TW
dc.titleBalanced Movement Control of a SCARA Robot-Inverted Pendulum Systemen_US
dc.typeThesis and Dissertationzh_TW
item.openairecristypehttp://purl.org/coar/resource_type/c_18cf-
item.openairetypeThesis and Dissertation-
item.cerifentitytypePublications-
item.fulltextno fulltext-
item.languageiso639-1en_US-
item.grantfulltextnone-
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