- 學位論文
Design, Modeling and control of a Dual-Arm Robot for machining
Design, Modeling and control of a Dual-Arm Robot for machining
摘要
為了將雙手臂機器人應用於加工，本論文主要進行雙手臂機器人機構的設計、建模與控制，在機構設計的部份，首先要做的是有關機構的基礎分析，利用Gruebler公式作自由度分析、利用齊次座標轉換矩陣推導順逆向運動學以及使用ANSYS軟體分析機構的靜態變形量，建模的部分，本文採用能量法(Lagrange approach)來推導動態方程式，由於存在運動學上的拘束條件，在推導過程中本文引入Lagrange multipliers以解決此問題，在控制方面，先以等效誤差法則將系統的動態方程式轉換成誤差狀態方程式，再以穩定狀態的誤差為目標，採用非線性控制的滑動模式控制法則來設計控制輸入，其能允許的不確定量之範圍相當大，因此本文在模擬當中加入系統參數的不確定量，也可以驗證滑動模式控制的強健性，最後做一循直線開迴路實驗，驗證運動學是否推導正確。
關鍵字
無資料並列摘要
This thesis is on the mechanism design, modeling, and control of dual-arm robots for machining. Analyzing the mechanism is essential in mechanism design, and involves employing the Gruebler equation for analyzing degrees of freedom, the homogeneous transformation matrix for the derivation of kinematics, and the software ANSYS for analyzing the static deformation of the mechanism. This study employed the Lagrange approach for the derivation of the dynamic equation in modeling. Because of constraints in the derivation of kinematics, this study combined Lagrange multipliers for the derivation of the dynamic equation. Regarding the method of equivalent errors, the equivalent errors in the dynamics of the dual-arm robot were considered as the new objective. Therefore, the contouring control problem became the stabilization of the equivalent errors. Subsequently, the method of sliding mode control was employed to design control inputs. This study also included parameter uncertainty in the simulation to verify the robustness of the sliding mode control. Lastly, an experiment of contouring a straight line in an open loop system was conducted to verify whether the derivation of kinematics was correct.