本研究研製一台整合微控制晶片之嵌入式智慧型夾爪與五軸機械手臂系統架構，將機器人空間定位與夾爪力量分別獨立控制，並建立兩硬體架構間之數位訊號傳輸溝通橋樑。首先由機械手臂到達空間之定點目標後，啟動夾爪經由力量與位置感測，求得目標物體之物理量如物體長度、接觸力大小、彈性係數，經由智慧型判別其軟硬後，以不傷害夾持物件之夾持力夾取並搬運物體；在搬運過程中機構震動或夾持力不足會導致物體產生滑落。本研究中發展出一套在沒有滑差感測器之條件下，僅使用FSR壓阻式感測器之力量響應分析出滑動訊號，一旦偵測滑動現象，立即將目標物之夾持力提升，可避免搬運過程中物件之掉落。智慧型夾爪硬體方面使用Arduino Nano 3.0為核心之壓力與位置感測控制架構，配合自製之驅動電路板、FSR壓阻式力量感測器、直流馬達與編碼器，達成以嵌入式晶片結合力量位置感測器之智慧型夾爪架構。軟體方面主要由FSMC控制法則來各別設計一個位置與力量控制器，建構軟硬物體之夾持力判別與滑動訊號偵測智慧型決策。機械手臂硬體控制架構是以ALTERA Nios II Embedded Development Kit（以下簡稱Nios II 發展板）為核心，在Nios II發展板內以數位硬體電路實現訊號擷取與輸出控制訊號之功能，數位控制訊號由Nios II發展板送至自製直流馬達驅動電路以驅動各軸馬達。數位電路包含五組光學編碼器信號偵測、四倍頻寬解碼電路、極限開關訊號偵測、五組脈波寬度調變信號輸出、一組夾爪傳輸訊號。軟體部分則是在NiosII之整合式發展介面編寫系統之人機介面、正反運動學方程式計算、點對點運動控制、模糊滑動控制器、連續運動軌跡計算、機械手臂運動之程序控制。

In this research, an embedded intelligent control gripper is designed and integrated with an ALTERA Nios II embedded control robotic arm. The end-effector position control and force control are designed separately with a signal to communicate for function switching consequently. Firstly, the position control mode is used to move the end-effector of manipulator to arrive the specified Cartesian coordinate, then it is switched into the gripper force control mode. ALTERA Nios II embedded development kit is employed to develop the Mistubishi RV-M2 hardware control architecture. The motor optical encoder decoding, limit switch detecting, pulse width modulation (PWM) generating and 1 bit communication signal with gripper were designed in Nios II hard circuit with HDL(hardware-design-language). Point to point motion control, inverse dynamics of robot arm, continuous motion trajectory control, sequential control and fuzzy sliding mode control soft programs are designed in Nios II interface. Arduino Nano 3.0 development board is chosen as the intelligent gripper control kernel for monitoring the gripper contacted force and position gap based on gripper FSR force sensor and a DC motor encoder feedback signals. The fuzzy sliding mode control is employed to design force and position controllers, respectively. The object stiffness can be constructed based on gripper position and contact force measuring information and an intelligent judge strategy. Then, the object can be handled with appropriate force without damage for pick-and-place operation. In addition, the object slip phenomenon is detected based on the force response of FSR and the contacted force command is regulated on-line to avoid the object falling.

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