研究生: |
黃傑 Chieh - Huang |
---|---|
論文名稱: |
考量驅動器動態的機械臂適應控制 A New Adaptive Control of Robot Manipulators Considering Actuator Dynamics |
指導教授: |
水谷英二
Eiji Mizutani 黃安橋 An-Chyau Huang |
口試委員: |
姜嘉瑞
Chia-Jui Ray 林紀穎 Chi-Ying Lin |
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: | 2016 |
畢業學年度: | 105 |
語文別: | 中文 |
論文頁數: | 42 |
中文關鍵詞: | 驅動器動態 、適應控制 、函數近似法 |
外文關鍵詞: | actuator dynamics, adaptive control, function approximation technic |
相關次數: | 點閱:547 下載:17 |
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傳統的機械臂控制因未考量驅動器動態,而在高速運動下會使控制效能劣化。本篇論文考量了電氣特性,對高速運動的剛性機械臂提出了一個新的適應控制器。本篇新架構的控制器除了估測機械臂的物理與電氣模型之外,更大幅的減少了待估測參數。如此一來大幅降低硬體需求與計算時間。最後並以剛性二軸機械臂的電腦模擬,驗證此控制器的可用性。由結果顯示,本文所提出的方法使機械臂在減少估測量的情況下仍具備良好的性能。
Traditional controllers for robot manipulators give poor performance in high speed operations due to ignorance of actuator dynamics. This thesis proposes a new adaptive controller for robot manipulators in high speed trajectory following considering of actuator dynamics. The new structure not only estimate dynamics in the physical and electrical models of robot manipulators, but also keep the calculation requirement to a minimum to facilitate the real-time implementation. A 2-DOF rigid robot manipulator is used in the computer simulation to verify the efficacy of the proposed design.
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