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| 研究生： |
張志豪 Chih-Hao Chang |
|---|---|
| 論文名稱： |
剛性機械臂之無力回饋適應阻抗控制器 A Force Sensor Free Adaptive Impedance Controller Design for Rigid Robot Manipulators |
| 指導教授： |
黃安橋
An-Chyau Huang |
| 口試委員: |
陳亮光
Liang-kuang Chen 李錟鋒 Tan-Feng Lee |
| 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： | 2017 |
| 畢業學年度： | 105 |
| 語文別： | 中文 |
| 論文頁數： | 30 |
| 中文關鍵詞： | 適應控制 、阻抗控制 、無力回饋 |
| 外文關鍵詞： | Adaptive control, Impedance control, Force sensor free |
| 相關次數： | 點閱：252 下載：23 |
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本論文針對剛性機械臂提出無需力回饋之適應阻抗控制器，其係將接觸力整合在未知函數中，再以函數近似估測之。相較於傳統適應控制方法，其不需使用Slotine and Li修正，不需回授關節加速度，無奇異解問題，並且不需回授接觸力。此設計可大幅降低估測參數數量和免除力感測器的使用，十分有利於工業應用。最後，本文以電腦模擬二軸剛性機械臂於平面受限空間的運動來證明此方法的有效性，並以與傳統方法做比較。
In this thesis, an adaptive impedance controller design for rigid robot manipulators without external force feedback is proposed. The function approximation technique is used in this new design to approximate uncertain parameters. Comparing with traditional methods, the new approach does not require Slotine and Li’s modification, angular acceleration feedback and external force feedback. Removing force sensors and reducing the number of estimators are advantageous to various industrial applications. Computer simulation results are presented show efficacy of the proposed design.
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