機器手臂之變結構控制設計

VSC Design for Robot Manipulators

李政慶(Cheng C. Lee)

指導教授 ： 黃英哲

元智大學/工程學院/電機工程學系/碩士(2001年)

摘要

本論文最主要提出一種可查表式的變結構控制法則，並將此種控制法則應用在一非線性時變的二軸機械手臂上。此種方法便是分別針對機械手臂的兩軸分別建立一個表格，然後根據兩軸手臂的角度由表格中找到對應的控制量，然後進行控制，最後再以相關的模擬，證明此舉的可行性。

關鍵字

變結構控制 ； 滑動模式控制 ； 機械手臂 ； 查表

並列摘要

The primary purpose of this paper is the introduction of a table look-up variable structure control method and the application of this method to a nonlinear time-varying two-links robotic manipulator. This method establishes tables separately for each of the two links on the robotic manipulator, and then finds the corresponding control power for different angles of each arms. The advantage of this design is to lower the level of calculation complexity. Related simulations are attached to prove the validity of the method.

並列關鍵字

variable structure control ； sliding mode ； robot ； robotic ； manipulator ； table look-up

參考文獻

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