新型鋼索懸吊式機器人之設計與控制實現

鋼索懸吊式機器人是一種特殊的平行桿機構的機器人，以具有撓性的鋼索來替代具有剛性的連桿。因此可應用於需要快速驅動、高負載但不需高剛性及高精密度之作業環境中。本論文應用PID(Proportional-Integral-Differential)控制器與模糊控制器實現了鋼索懸吊式機器人自動傾斜與平衡之整合設計。並且鋼索懸吊式機器人的控制命令來自於電腦的即時控制。鋼索懸吊式機器人的系統主要分為：超音波感測器、陀螺儀、無線攝影機以及Arduino控制板。自動傾斜與平衡目的在於天車或吊車的尾端吊物處、作業空間受到限制的區域、野外雷達或望遠鏡饋源支撐系統，並使用無線攝影機做為監視鋼索懸吊式機器人的做動情形。本論文使用LabVIEW圖控程式設計出PID控制器與模糊控制器，並將鋼索懸吊式機器人置於一空間內，使用兩種控制器比較其差異性，並以MATLAB繪出鋼索懸吊式機器人的空間分析，實驗結果也證實鋼索懸吊式機器人能成功達到任意角度傾斜與平衡之功能。

關鍵字

模糊控制； PID控制；鋼索懸吊式機器人；懸吊平衡

並列摘要

A cable-suspended-robot (CSR) is a special parallel manipulator in which the mobile platform is driven by cables, instead of rigid links. These advantages make the CSR become a promising candidate for applications requiring high speed, and high payload but with moderate stiffness and accuracy. The main goal of this thesis is to propose Proportional-Integral-Differential control and fuzzy control algorithm for CSR. The sensor module on the CSR contains the ultrasound, gyroscope, wireless camera, and the arduino micro-control board. Automatically tilt and balance aimed at the end of the crane or hoist hanging objects, regions with limited work space, the field radar or telescope feed support system, and using a wireless camera as a monitor cable suspended robot to do dynamic situation. This study introduces LabVIEW software platform to design propose Proportional-Integral-Differential controller and fuzzy controller. Two different controller have been adopted for control purposes and use MATLAB software platform plot CSR space analysis. Experimental results also confirm that the proposed CSR can successfully to perform Automatically tilt and balance.