串結式救援機器人之設計與控制

Design and Control of a Chain-typed Rescue Robot

陳俊傑(Chun-Chieh Chen)

指導教授 ： 葉賜旭

國立臺北科技大學/機電學院/機電整合研究所/碩士(2009年)

https://doi.org/10.6841/NTUT.2009.00213

摘要

救援機器人因為地面起伏變化而造成移動時的運動限制。針對地面起伏變化造成的影響，本論文設計出可順應地形環境變化的串結式救援機器人。串結式救援機器人中的單節機器人利用履帶傳動以及前後端圓形輪廓的設計，使單節機器人即具有基本的順應地形能力，再透過串結式結構的設計，以兩個自由度的關節作為單節與單節之間的連接，使串結式救援機器人更可克服多種複雜的地形環境。串結式救援機器人中，單節與單節之間的關節控制器是以Admittance控制作為順應地形的控制器架構，而Admittance控制架構是探討地面變化而產生的干擾扭矩與關節馬達轉速之間的關係。而且在控制器的設計中加入干擾觀測器的運用，以估測出地面變化而產生的干擾扭矩作為Admittance控制器的輸入，並產生相對應的轉速命令。然而，馬達系統估測參數的變異量會影響Admittance控制器的表現，因此在本論文中將探討馬達參數變異對控制器系統造成的影響，並設計Admittance控制器的參數來降低因為參數變異所造成的影響。
本研究實驗結果可驗證Admittance控制器的可行性，並且藉由控制器的參數調整，可有效降低參數變異對控制器造成的影響與改變Admittance控制器的效果，使串結式機器人透過主動關節的控制，達到順應地形變化的目標。

關鍵字

串結式機器人 ； 救援機器人 ； 干擾觀測器 ； Admittance控制

並列摘要

Because of the rough terrain, the moving of the rescue robot will be limited. In order to improve this problem, this study develops a chain-typed rescue robot to comply with the rough terrain. The single unit of the chain-typed rescue robot is designed with caterpillars and its outline is round, so that the rescue robot unit possesses the basic ability of complying with terrain. Furthermore, through the design of chain-typed structure and 2-DOF (degree of freedom) joint as the connection between two single-unit robots, the chain-typed rescue robot can overcome many kinds of complicated environments easily.
The active joint controller between two single-unit robots is based on Admittance Control which is about the relationship between disturbance torque caused by rough terrain and angular velocity of joint motor. Disturbance Observer is included in the design of the controller, and Disturbance Observer is used to estimate the disturbance torque caused by rough terrain. The estimated disturbance torque is used to be the input of Admittance Controller which will output the angular velocity signal. However, the estimated parameter of motor system has variation problem that will influence the effect of Admittance controller. For this reason, the study designs the parameter of Admittance controller to reduce the influence caused by parameter variation of motor.
The experimental result in this study can verify the feasibility of Admittance Controller. The result shows that adjusting the parameters of the controller can reduce the influence caused by parameter variation effectively and change the effect of Admittance Controller. Finally, the chain-typed rescue robot can comply with rough terrain by controlling the active joint.

並列關鍵字

Chain-typed robot ； Rescue robot ； Disturbance observer ； Admittance control

參考文獻

[1] K. Tadakuma, “Joint Mechanism to Automatically Realize Multiple Configurations for a Connected Vehicle,”

[2] H. Tsukagoshi, M. Sasaki, A. Kitagawa, and T. Tanaka, “Numerical analysis and design for a higher jumping rescue robot using a pneumatic cylinder,” Journal of Mechanical Design, Transactions of the ASME, vol. 127, no. 2, pp. 308-314, 2005.

[3] R. Haraguchi, K. Osuka, S. Makita, S. Tadokoro, “The development of the mobile inspection robot for rescue activity, MOIRA2,” Proceedings of the IEEE International Conference on Advanced Robotics, pp. 498-505, 2005.

[4] A. Wolf, H. H. Choset, J. H. B. Brown, R. W. Casciola, “Design and control of a mobile hyper-redundant urban search and rescue robot,” Advanced Robotics, vol. 19, no. 3, pp. 221-248, 2005.

[5] J. Borenstein, G. Granosik, and M. Hansen, “The OmniTread Serpentine Robot - Design and Field Performance,” Proceedings of SPIE, vol. 5804, pp. 324-332, 2005.