複合薄型致動器之解耦運動與順應性控制

隨著機器手臂的普及，機械手臂已成為人類生活的一部份，如何兼顧運動控制與順應性控制一直都是國內外機械手臂大廠致力研發的重點。然而單一顆馬達難以達到兼具運動控制與順應性控制的成效。若能得到該成效，進而用於機械手臂控制系統，就能提高機械手臂的控制性，故本研究提出雙馬達解耦系統能有效且即時地控制機械手臂的運動與順應性。本研究在雙馬達系統下，利用不同的解耦方式，分解出互相不影響的虛擬輸出，並以該虛擬輸出為回授。其中解耦系統的解耦方式分別使用了指定特徵結構與前饋的解耦方式。其解耦模式分別運用於運動控制與順應性控制，使得運動控制與順應性控制彼此獨立，達到可以同時兼顧運動控制與順應性控制的效果。並有在順應性控制時能與接觸介質達到定力的功能，進一步利用順應性模組的估測力矩並以估測力矩取代力矩感應器。本研究提出的雙馬達解耦系統，其中不同解耦的方法有著不同的解耦效果，指定特徵結構的方式有著良好的解耦效果，但前饋式的解耦效果卻有限，而且容易受到模組的影響。估測力矩則是會受到解耦的影響，如果解耦完整，估測力矩將會更加的精準，此點可從實驗結果明顯的觀察出來，前饋式的解耦如果有更好的解耦度，運動控制與順應性控制將可以更完美的獨立出來。

關鍵字

解耦；運動控制；順應性控制

並列摘要

Robotic arms are more and more popular and have become a part of human life. How to balance motion control and compliance control has always been the focus of research and development of domestic and foreign robotic arm manufacturers. If motion control and compliance control can be applied to a single joint simultaneously, the performance of the robotic arm can be significantly improved. Since it is difficult to accomplish both motion control and compliance control with a single motor, this study proposes a decoupling control algorithm for a dual-motor actuator to effectively control the motion and compliance of a single joint in real time. In the dual motor system, different decoupling methods are used to decompose the joint output as a sum of two virtual outputs that are decoupled from the input. The decoupling method combines eigenstructure assignment and feedforward decoupling. The decoupled subsystems are designed for motion control and compliance control, respectively. Consequently, the motion control and the compliance control are independent of each other, and can be activated at the same time. To implement the compliance control, the contact torque is estimated and used for feedback such that the contact torque is maintained in the desired value. In the proposed decoupling algorithm, the eigenstructure assignment has a good decoupling result; however, the feedforward decoupling has a limited performance and suffers from model uncertainties. The accuracy of contact torque estimation degrades due to the imperfect decoupling. If the decoupling can be improved, the estimated torque will be more accurate. This can be clearly observed from the experimental results. If the feedforward decoupling can be further enhanced, then the dependency between the motion control loop and the compliance control loon can be alleviated.

並列關鍵字

Decouple ； Motion Control ； Compliance Control

參考文獻

[1] S.Choi, W. J. Eakins, and T. A. Fuhlbrigge, "Trends and Opportunities for Robotic Automation of Trim & Final Assembly in the Automotive Industry," 6th annual IEEE Conference on Automation Science and Engineering, August 21-24,2010

Google Scholar

[2] Z.-H.Tsai, S.-S.Yeh, P.-L.Hsu, " The integrated linear and nonlinear motion control design for precise CNC machine tools," Intemational Conference on Control Applications, September 24,2004

Google Scholar

[3] K.W.Kong,W.-M.Lau, K.S.Wong, H.-Y.Chan, F.C.S.Lee , J.Shen, " A Pulse-Sensing Robotic Hand for Tactile Arterial Palpation," The 6th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, June 19-22, 2016

Google Scholar

[4] R.Liang, G.Xu, S.Zhang, X.Zheng, L.Li1,Y.Wu, A.Luo, X.Zhang" Design of Rigid-Compliant Parallel Exoskeleton Knee Joint,"2017 IEEE 3rd Information Technology and Mechatronics Engineering Conference, December 2017

Google Scholar

[5] S.Takaharah, S.Jeong, " Prototype Design of Robotic Mobility Aid to Assist Elderly's Standing-Sitting, Walking, and Wheelchair Driving in Daily Life," 2014 14th International Conference on Control, Automation and Systems, Oct. 22-25, 2014

Google Scholar

國際替代計量

複合薄型致動器之解耦運動與順應性控制

全文下載

主題瀏覽