簡易檢索 / 詳目顯示

研究生: 楊安捷
An-Jie Yang
論文名稱: 無感測器模型式之機械手臂被夾物異常診斷
Sensorless Model-based Anomaly Diagnosis for Workpieces Handled by Robotic Arm
指導教授: 藍振洋
Chen-Yang Lan
劉孟昆
Meng-Kun Liu
口試委員: 藍振洋
Chen-Yang Lan
劉孟昆
Meng-Kun Liu
陳羽薰
Yu-Hsun Chen
學位類別: 碩士
Master
系所名稱: 工程學院 - 機械工程系
Department of Mechanical Engineering
論文出版年: 2022
畢業學年度: 110
語文別: 中文
論文頁數: 100
中文關鍵詞: 關節機械手臂異常診斷漢默斯坦-維納模型
外文關鍵詞: articulated robotic arm, Hammerstein-Wiener model
相關次數: 點閱:189下載:0
分享至:
查詢本校圖書館目錄 查詢臺灣博碩士論文知識加值系統 勘誤回報


摘要 Abstract 誌謝 目錄 圖目錄 表目錄 第一章 緒論 1.1 前言與研究動機 1.2 文獻回顧 1.2.1 機械手臂 1.2.2 品質控制 1.2.3 故障診斷 1.3 研究貢獻及架構 第二章 關節機械手臂設計 2.1 關節機械手臂機構設計 2.1.1 定義座標系 2.1.2 工作空間 2.1.3 機構設計 2.2 夾爪 第三章 關節手臂數學模型 3.1 運動學模型 3.1.1 順向運動學 3.1.2 逆向運動學 3.1.3 速度與加速度分析 3.2 動力學模型 第四章 影像辨識系統 4.1 相機校正 4.2 特徵選取 第五章 建立故障診斷模型 5.1 路徑規劃 5.2 故障診斷模型 5.2.1 非線性模塊 5.2.2 線性模型 5.2.3 估計方法 第六章 實驗結果與討論 6.1 實驗架設 6.1.1 伺服馬達 6.1.2 控制設備 6.1.3 擷取設備 6.1.4 影像辨識及異常模擬設備 6.2 訊號後處理 6.3 故障診斷 6.3.1 實驗一: 質心偏移 6.3.2 實驗二:異常振動 6.3.3 結果與討論 第七章 結論與未來展望 7.1 結論 7.2 研究貢獻 7.3 未來展望 參考文獻 附錄 A

[1] 黃仲宏, "從 IFR Robot Suppliers Committee 觀察 2021 年工業機器人的最新發展," 機械工業雜誌, no. 461, pp. 7-13, 2021.
[2] S. Y. Nof, Handbook of industrial robotics. John Wiley & Sons, 1999.
[3] H. A. Almurib, H. F. Al-Qrimli, and N. Kumar, "A review of application industrial robotic design," in 2011 Ninth International Conference on ICT and Knowledge Engineering, 2012: IEEE, pp. 105-112.
[4] R. S. Mole, A. M. Rode, K. N. Phadtare, P. D. Patil, and J. B. Satpute, "A Literature Review on Structural Properties of Different Types of Robots," Global Research and Development, vol. 2, no. 4, pp. 46-51, March 2017.
[5] A. Gasparetto and L. Scalera, "A Brief History of Industrial Robotics in the 20th Century," Advances in Historical Studies, vol. 08, no. 01, pp. 24-35, 2019, doi: 10.4236/ahs.2019.81002.
[6] N. G. Hockstein, C. G. Gourin, R. A. Faust, and D. J. Terris, "A history of robots: from science fiction to surgical robotics," J Robot Surg, vol. 1, no. 2, pp. 113-8, 2007, doi: 10.1007/s11701-007-0021-2.
[7] T. Brogårdh, "Present and future robot control development—An industrial perspective," Annual Reviews in Control, vol. 31, no. 1, pp. 69-79, 2007, doi: 10.1016/j.arcontrol.2007.01.002.
[8] Y. Chen and F. Dong, "Robot machining: recent development and future research issues," The International Journal of Advanced Manufacturing Technology, vol. 66, no. 9-12, pp. 1489-1497, 2012, doi: 10.1007/s00170-012-4433-4.
[9] E. Najafi and M. Ansari, "Model-based design approach for an industry 4.0 case study: a pick and place robot," in 2019 23rd International Conference on Mechatronics Technology (ICMT), 2019: IEEE, pp. 1-6.
[10] S. R. Hamid, S. Isa, B. C. Chew, and A. Altun, "Quality Management Evolution from the Past to Present: Challenges for Tomorrow," Organizacija, vol. 52, no. 3, pp. 157-186, 2019, doi: 10.2478/orga-2019-0011.
[11] Y. Tao and W. Gaoshan, "Research of on-line process quality control system," presented at the 2008 IEEE International Conference on Automation and Logistics, 2008.
[12] B. Mrugalska and E. Tytyk, "Quality Control Methods for Product Reliability and Safety," Procedia Manufacturing, vol. 3, pp. 2730-2737, 2015, doi: 10.1016/j.promfg.2015.07.683.
[13] C.-C. Yang, "The Evolution of Quality Concepts and the Related Quality Management," in Quality Control and Assurance - An Ancient Greek Term Re-Mastered, 2017, ch. Chapter 1.
[14] A. R. Martínez‐Lorente, F. Dewhurst, and B. G. Dale, "Total quality management: origins and evolution of the term," The TQM magazine, 1998.
[15] N. O. Kurdyukova, M. A. Menshikova, and M. D. Dzhamaldinova, "Development of Automated Quality Control and Management Systems at Industrial Enterprises," presented at the 2020 International Conference Quality Management, Transport and Information Security, Information Technologies (IT&QM&IS), 2020.
[16] L. Jieping, C. Yuliu, and L. Zhenbi, "Active views on quality control in automated manufacturing," in 2002 IEEE Region 10 Conference on Computers, Communications, Control and Power Engineering. TENCOM'02. Proceedings., 2002, vol. 3: IEEE, pp. 1617-1621.
[17] C. Madritsch, C. Ungermanns, T. Klinger, and W. Werth, "An innovative industrial automation system showcase for Quality Management and Statistical Process Control lectures," in 2012 Proceedings of the 35th International Convention MIPRO, 2012: IEEE, pp. 1152-1155.
[18] Y. He and W. Chang, "Systematical design quality control model based on key quality characteristics," in 2009 16th International Conference on Industrial Engineering and Engineering Management, 2009: IEEE, pp. 1208-1212.
[19] E. Lotfi, M. Yaghoobi, and H. R. Pourreza, "A new approach for automatic quality control of fried potatoes using machine learning," in 2008 7th IEEE International Conference on Cybernetic Intelligent Systems, 2008: IEEE, pp. 1-4.
[20] Y. Al-Kofahi and G. Fiona, "Image analytic algorithms for automated cell segmentation quality control," in 2018 IEEE 15th International Symposium on Biomedical Imaging (ISBI 2018), 2018: IEEE, pp. 423-426.
[21] P. Melin, O. Castillo, and F. Sotelo, "Automated quality control in sound speaker manufacturing using a hybrid neuro-fuzzy approach," in Proceedings Joint 9th IFSA World Congress and 20th NAFIPS International Conference (Cat. No. 01TH8569), 2001, vol. 2: IEEE, pp. 1027-1032.
[22] 鴻齡科技股份有限公司(趙巧忠), "外觀檢測裝置," 中華民國 Patent TWI711817B, 2020.
[23] 佑冠光電科技股份有限公司(林明漢), "端壓機品質監視系統," 中華民國 Patent TWM554989U, 2018.
[24] 蔡吉勝,白鴻安,張富祺, "電鍍品表面瑕疵之機器視覺自動化檢測系統," 中華民國 Patent TW200413575A, 2004.
[25] 財團法人工業技術研究院(洪國峰), "瑕疵檢測方法及其裝置," 中華民國 Patent TWI558999B, 2016.
[26] 由田新技股份有限公司(賴明正,柯岳廷), "翻面式多軸機械手臂裝置及其光學檢測設備," 中華民國 Patent TWI702373B, 2020.
[27] D. L. J. SVXR( ADLER, SCOTT JOSEPH. CHRISSAN, DOUGLAS A.), "根據X射線影像複查預測產品失效的方法、電腦可讀取非暫存性儲存媒體及系統," 中華民國 Patent TW202109460A, 2021.
[28] I. Hwang, S. Kim, Y. Kim, and C. E. Seah, "A Survey of Fault Detection, Isolation, and Reconfiguration Methods," IEEE Transactions on Control Systems Technology, vol. 18, no. 3, pp. 636-653, 2010, doi: 10.1109/tcst.2009.2026285.
[29] P. Gangsar and R. Tiwari, "Signal based condition monitoring techniques for fault detection and diagnosis of induction motors: A state-of-the-art review," Mechanical Systems and Signal Processing, vol. 144, 2020, doi: 10.1016/j.ymssp.2020.106908.
[30] V. T. Do and U.-P. Chong, "Signal Model-Based Fault Detection and Diagnosis for Induction Motors Using Features of Vibration Signal in Two-Dimension Domain," Strojniški vestnik – Journal of Mechanical Engineering, vol. 57, no. 09, pp. 655-666, 2011, doi: 10.5545/sv-jme.2010.162.
[31] H. Han, Y. Lin, L. Gu, Y. Xu, and F. Gu, "Vibration Analysis Based Condition Monitoring for Industrial Robots," in International Conference on Maintenance Engineering, 2020: Springer, pp. 186-195.
[32] C. Wu, C. Guo, Z. Xie, F. Ni, and H. Liu, "A Signal-Based Fault Detection and Tolerance Control Method of Current Sensor for PMSM Drive," IEEE Transactions on Industrial Electronics, vol. 65, no. 12, pp. 9646-9657, 2018, doi: 10.1109/tie.2018.2813991.
[33] Z. Gao, C. Cecati, and S. X. Ding, "A Survey of Fault Diagnosis and Fault-Tolerant Techniques—Part I: Fault Diagnosis With Model-Based and Signal-Based Approaches," IEEE Transactions on Industrial Electronics, vol. 62, no. 6, pp. 3757-3767, 2015, doi: 10.1109/tie.2015.2417501.
[34] P. P. Harihara, K. Kim, and A. G. Parlos, "Signal-based versus model-based fault diagnosis-a trade-off in complexity and performance," in 4th IEEE International Symposium on Diagnostics for Electric Machines, Power Electronics and Drives, 2003. SDEMPED 2003., 2003: IEEE, pp. 277-282.
[35] A. H. Sabry, F. H. Nordin, A. H. Sabry, and M. Z. Abidin Ab Kadir, "Fault Detection and Diagnosis of Industrial Robot Based on Power Consumption Modeling," IEEE Transactions on Industrial Electronics, vol. 67, no. 9, pp. 7929-7940, 2020, doi: 10.1109/tie.2019.2931511.
[36] J. Wang, G. Wen, S. Yang, and Y. Liu, "Remaining Useful Life Estimation in Prognostics Using Deep Bidirectional LSTM Neural Network," presented at the 2018 Prognostics and System Health Management Conference (PHM-Chongqing), 2018.
[37] E. Uhlmann, J. Polte, and C. Geisert, "Condition Monitoring Concept for Industrial Robots," 2020.
[38] F. Caccavale, P. Cilibrizzi, F. Pierri, and L. Villani, "Actuators fault diagnosis for robot manipulators with uncertain model," Control Engineering Practice, vol. 17, no. 1, pp. 146-157, 2009, doi: 10.1016/j.conengprac.2008.05.012.
[39] M. Luo et al., "Model-based fault diagnosis/prognosis for wheeled mobile robots: a review," in 31st Annual Conference of IEEE Industrial Electronics Society, 2005. IECON 2005., 2005: IEEE, p. 6 pp.
[40] E. M. Cimpoesu, B. D. Ciubotaru, and D. Stefanoiu, "Fault Detection and Diagnosis Using Parameter Estimation with Recursive Least Squares," presented at the 2013 19th International Conference on Control Systems and Computer Science, 2013.
[41] A. Q. Khan, "Observer-based fault detection in nonlinear systems," Duisburg, Essen, Univ., Diss., 2010, 2010.
[42] V. Venkatasubramanian, R. Rengaswamy, K. Yin, and S. N. Kavuri, "A review of process fault detection and diagnosis," Computers & Chemical Engineering, vol. 27, no. 3, pp. 293-311, 2003, doi: 10.1016/s0098-1354(02)00160-6.
[43] R. Isermann, "Model-based fault-detection and diagnosis – status and applications," Annual Reviews in Control, vol. 29, no. 1, pp. 71-85, 2005, doi: 10.1016/j.arcontrol.2004.12.002.
[44] E. Khalastchi and M. Kalech, "On Fault Detection and Diagnosis in Robotic Systems," ACM Computing Surveys, vol. 51, no. 1, pp. 1-24, 2019, doi: 10.1145/3146389.
[45] A. Abid, M. T. Khan, and J. Iqbal, "A review on fault detection and diagnosis techniques: basics and beyond," Artificial Intelligence Review, vol. 54, no. 5, pp. 3639-3664, 2020, doi: 10.1007/s10462-020-09934-2.
[46] J. J. Gertler, Fault detection and diagnosis in engineering systems. CRC press, 2017.
[47] K. O. Omali, M. N. Kabbaj, and M. Benbrahim, "Nonlinear Observer-Based Fault Detection and Isolation for a Manipulator Robot," in New Developments and Advances in Robot Control, (Studies in Systems, Decision and Control, 2019, ch. Chapter 7, pp. 163-185.
[48] A. S. Morgan et al., "Benchmarking Cluttered Robot Pick-and-Place Manipulation With the Box and Blocks Test," IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 454-461, 2020, doi: 10.1109/lra.2019.2961053.
[49] P. Pedrazzoli, R. Rinaldi, and C. R. Boer, "A rule based approach to the gripper selection issue for the assembly process," in Proceedings of the 2001 IEEE International Symposium on Assembly and Task Planning (ISATP2001). Assembly and Disassembly in the Twenty-first Century.(Cat. No. 01TH8560), 2001: IEEE, pp. 202-207.
[50] H. Choi and M. Koç, "Design and feasibility tests of a flexible gripper based on inflatable rubber pockets," International Journal of Machine Tools and Manufacture, vol. 46, no. 12-13, pp. 1350-1361, 2006, doi: 10.1016/j.ijmachtools.2005.10.009.
[51] Z. Samadikhoshkho, K. Zareinia, and F. Janabi-Sharifi, "A brief review on robotic grippers classifications," in 2019 IEEE Canadian Conference of Electrical and Computer Engineering (CCECE), 2019: IEEE, pp. 1-4.
[52] K. Renuka, N. Bhuvanesh, and J. Reena Catherine, "Kinematic and Dynamic Modelling and PID Control of Three Degree-of-Freedom Robotic Arm," in Advances in Materials Research, (Springer Proceedings in Materials, 2021, ch. Chapter 87, pp. 867-882.
[53] T. Hsiao and M.-C. Weng, "A dual-model fault detection approach with application to actuators of robot manipulators," in 2011 50th IEEE Conference on Decision and Control and European Control Conference, 2011: IEEE, pp. 3718-3723.
[54] D. Brambilla, L. M. Capisani, A. Ferrara, and P. Pisu, "Fault Detection for Robot Manipulators via Second-Order Sliding Modes," IEEE Transactions on Industrial Electronics, vol. 55, no. 11, pp. 3954-3963, 2008, doi: 10.1109/tie.2008.2005932.
[55] P. Cao, Y. Gan, and X. Dai, "Model-based sensorless robot collision detection under model uncertainties with a fast dynamics identification," International Journal of Advanced Robotic Systems, vol. 16, no. 3, 2019, doi: 10.1177/1729881419853713.
[56] A. Wills, T. B. Schön, L. Ljung, and B. Ninness, "Identification of Hammerstein–Wiener models," Automatica, vol. 49, no. 1, pp. 70-81, 2013, doi: 10.1016/j.automatica.2012.09.018.
[57] L. Esmaeilani, J. Ghaisari, and M. A. Bagherzadeh, "Hammerstein–Wiener identification of industrial plants: A pressure control valve case study," IET Control Theory & Applications, vol. 15, no. 3, pp. 416-431, 2020, doi: 10.1049/cth2.12052.
[58] C. A. Floudas and P. M. Pardalos, Encyclopedia of optimization. Springer Science & Business Media, 2008.
[59] S. Gratton, A. S. Lawless, and N. K. Nichols, "Approximate Gauss–Newton Methods for Nonlinear Least Squares Problems," SIAM Journal on Optimization, vol. 18, no. 1, pp. 106-132, 2007, doi: 10.1137/050624935.
[60] H. P. Gavin, "The Levenberg-Marquardt algorithm for nonlinear least squares curve-fitting problems," Department of Civil and Environmental Engineering, Duke University, vol. 19, 2019.

無法下載圖示 全文公開日期 2025/08/29 (校內網路)
全文公開日期 2025/08/29 (校外網路)
全文公開日期 2025/08/29 (國家圖書館:臺灣博碩士論文系統)
QR CODE