撓性關節機械手臂系統之非線性遞迴步階控制設計

Nonlinear Backstepping Control Design of Flexible-Joint Robotic Manipulators

歐哲旻(Che-Min Ou)

指導教授 ： 林容杉

國立暨南國際大學/科技學院/電機工程學系/碩士(2010年)

https://doi.org/10.6837/NCNU.2010.00245

摘要

現今，撓性關節機械手臂已經普遍應用在我們的工業社會當中，在工業上我們要求能夠更快及更精確的到達我們指定的位置並且能用最少的花費來達成這個目的，撓性關節機械手臂和傳統的機械手臂不一樣的地方在於角度上的誤差，馬達轉動的角度並不會跟連桿轉動的角度一樣，這之間會有個角度上的誤差，而我們用撓性關節來描述這個現象，因此我們必須考慮具有撓性關節的機械手臂。在這論文當中，撓性關節機械手臂的數學模型會先被介紹，再來我們利用非線性遞迴步階( nonlinear backstepping )的方法來設計我們的控制器來做軌跡的追蹤。
在許多文章中有介紹到撓性關節機械手臂連桿的末端從一點移到另一點追蹤不同的軌跡，此外，連桿上的負載和關節的彈性系數可能會拿不到，因此我們利用了適應性遞迴步階( adaptive backstepping )的方法來設計我們的控制器，接下來，我們在二軸的撓性關節上有一些很好的模擬結果，最後，對於我的研究提出一些結論。

關鍵字

撓性關節機械手臂 ； 非線性系統 ； 遞迴步階設計 ； 適應性遞迴步階設計

並列摘要

At present, flexible-joint robotic manipulators are universally used in various industries. In the manufacturing industry, higher productivity needs to have manipulators that can operate with higher speed, more precision, less power consumption, lower cost and different payload handling capabilities. The difference between flexible-joint robotic manipulators and common robotic manipulators is the occurrence of angular errors between motor rotation and link movement. In this thesis, a mathematical model of an n-link flexible joint robotic manipulator is established through Lagrange approach, and then the nonlinear backstepping design control scheme is proposed for the trajectory tracking control of flexible-joint robotic manipulators.
In many cases, the end of the link is required to move from one place to another and follow some different desired trajectories. In addition, the load conditions and stiffness coefficients are porbably unknown, so flexible-joint robotic manipulators with parameter uncertainties would be considered in the design of the nonlinear adaptive backstepping control algorithm. The proposed nonlinear and adaptive backstepping controllers are not only to stabilize the system, but also to make the trajectory tracking errors to converge to zero asymptotically. We also use Lyapunove stability theorem to analyse the system of stability. Furthermore, some simulation results are given to illustrate the excellent performance of the nonlinear backstepping control design schemes and adaptive backstepping control applied to a two-link flexible joint manipulator. Finally, some conclusions and future works are given for future research.

並列關鍵字

Flexible-Joint Robotic Manipulators ； Nonlinear System ； Backstepping Design ； Adaptive Backstepping Design

參考文獻

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