工業機器人的動力學分析與控制

近年來，工業機器人在運用於許多領域中比如說焊接，噴漆，載重與卸載，產品檢查與測試等。因為其普及性，因此工業機器人已經成為令人有興趣的研究領域。所以許多公司，研究中心以及科學家們為了改善工業機器人的特性而投資了大筆錢，時間及氣力。模擬工具成為不可或缺的工具來幫助他們研究開發更多關於工業機器人的性能，安全性及效果性。本研究有系統地介紹工業機器人的運動學，動力學及控制理論。通過這些理論，R-R 與R-R-R機械手臂的程式與結果可以獲得。另外一方面，通過模擬結果，然後比對兩方面的結果進而可以確認模擬成功。此外，藉由建立簡單真實2DYNAMIXEL伺服馬達機械手臂模型，讓它可以做一些簡單的任務比如說移動從一個位置到另一個位置或者跟隨一條直線。此外運用RecurDyn-Colink來解決機械手臂的動力學分析與控制。通過正向運動學及逆向運動學來模擬機械手臂實際進行的高階轨跡路徑，然後這些模擬結果將被使用在動力學分析部分。本論文也有提到PD正向回授控制，控制系統乃基於獨立接點控制，是一種單輸入/單輸出系统。模擬結果等效於理論結果。這些結果提供了許多有用訊息比如說迴避障礙規劃，最佳化軌跡路徑，運動學和動力學研究。

關鍵字

機械手臂；正向運動學；逆向運動學；動力學；正向回授控制；撓性體

並列摘要

Today, industrial robot is used in various purposes such as welding, painting, loading and unloading, production inspection, and testing. Because of its popularity, industrial robot has become an interesting research field. Many companies, research centers and scientists spend a lot of money, time to improve characteristics of industrial robot. Simulation is a key competence for robot manufacturers, users and scientists to improve robot performance, safety and efficiency. Kinematics, dynamics and control theory are introduced, in this study. Equations from these theories are applied for R-R and R-R-R manipulators, then these results are compared with simulation results to verify simulation results. In addition, a simple real model is built with 2 DYNAMIXEL servo motors; the real model can do simple work such as moving point to point, following straight line. The dynamic analysis and control of robotic manipulator are performed by RecurDyn-Colink. Forward and inverse kinematics are used to simulation robot manipulator to perform advance trajectory path, the results from these simulations are used in dynamics section. PD feedforward control also is indicated, the control system based on independent joint control, which often is known as single-input/ single-output system. These results from simulation are equivalent to theory. These results also provide a lot of useful information for a lot of purposes such as layout evaluation to avoid obstacle, optimization trajectory path, kinematic, and dynamic studies.

並列關鍵字

Robotic manipulator ； Forward kinematics ； Inverse kinematics ； Dynamics ； Feedforward control ； Flexible body

參考文獻

[5] Yan-Shen Wang, Yu-Xian Gai, Ping-Chun Xie, “Dynamics co-simulation of a type of spot welding robot by RecurDyn and Simulink”, Consumer Electronics, Communications and Networks (CECNet), pp.4934 – 4937, XianNing, China, April 2011.

[14] Etienne Dombre, Wisama Khalil, Robot Manipulators Modeling, Performance, Analysis and Control, ISTE, 2007.

[16] Sonja Macfarlane, “On-Line Smooth Trajectory Planning for Manipulators”, THE UNIVERSITY OF BRITISH COLUMBIA, Master of Applied Science, 2001.

[20] Farzad Cheraghpour, Masoud Vaezi, Hesam Eddin Shoori Jazeh, S. Ali A. Moosavian, “Dynamic Modeling and Kinematics Simulation of Staubli TX 40 Robot Using MATLAB/ADAMS Co-simulation”, IEEE International Conference on Mechatronics, 2011.

[21] Mahmoud Gouasmi, Mohammed Ouali, Brahim Fernini, M’hamed Meghatria, “Kinematic Modelling and Simulation of a 2-R Robot Using SolidWorks and Verification by MATLAB/Simulink”, International Journal of Advanced Robotic Systems, May 2012.

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工業機器人的動力學分析與控制

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