- 學位論文
機器手臂多軸末端驅動控制技術
Drive and Control Technology for Multi-axis Endeffectors of Robotic Arm
摘要
過去機器手臂與機器手指系統整合上，常見兩大問題:1.機器手指馬達軸數過多，不論在配線、訊號傳遞、控制相對複雜。2.機器手指與機器手臂通訊介面不一，系統整合困難。 為了改善其缺點，本論文建立一套機器手臂與機器手指整合平台，並針對多軸控制手指模型，設計出多軸控制的開發版，達到機器手臂與機器手指整合之目的。在主站控制器部分，以PC-Based架構搭配RTX子系統為主，結合EtherCAT串列通訊技術整合機械手臂與開發板之需求。在開發板部分，以四大晶片來實現手指驅動。第一，以FPGA（Field Programmable Gate Array, FPGA）晶片來控制馬達電路訊號，配合有多腳位的特性，可同時多軸馬達控制。第二，採用嵌入式晶片撰寫EtherCAT通訊模組，使得開發板與機器手臂達到通訊一致性。第三，Driver IC來實現馬達驅動。第四，掛載類比轉數位(ADC)通道，外部Senser訊號可以透過電壓方式整合到系統上。另外，藉由系統整合平台的建立，主站透過監測各軸伺服迴路動態數據，達到系統鑑別與動態調機之目的。 本論文最後以HIWIN的六軸關節型機器手臂與PMC 12指吸盤機器手指結合。建立運動方程式並且考量手指末端的吸盤與待夾物最佳化吸力效果，針對工作範圍進行分析，設計出手臂與手指的理想姿態。利用C# 進行模擬與分析，驗證推導理論之正確性與可行性
並列摘要
In the past, Systematic integration of industrial robot and robotic finger have two common problemes. First, The robot finger is constituted by many motors which require many set of drives. If the multiple drives cannot be integrated into one set, the wiring, signaling, control, are quite complicated. Second, The communication interface of industrial robot and robotic finger are different. Therefore, It's difficult to promote the system integration. This thesis improves the above issues which builds up integration platform for industrial robot and robotic. And it designed development board which applied to multi-axis motor control on robotic finger models. The purpose that the robotic finger integrates with industrial robot. The system controller built on PC-Based system, and with RTX Sub-system. Using EtherCAT communication method achieve multi-axis motor control. On the other hand, Development board is designed using four kinds of different chips to control motor on robotic finger model. The first, using field programmable gate arrays (FPGA) chip to design drive circuits. The FPGA with multi-pin feature can help to develop motion control easily. The second, using ARM embedded chip realize EtherCAT communication module. Through the development board combined with industrial robot. The third, Driver IC achieve the motor to drive . The fourth, External senser voltage signal using AD converter chip integrated into the system. Finally, the master can monitored servo-loop response, to achieve tuning. Finally, This thesis combined HIWIN six-axis articulated robot and PMC 12 freedom of the sucker fingers. To establish kinematic equation. And consideration of the finger located at the end sucker to be the best of the suction insert. The design makes moves ideal posture of robot and robotic finger. Finally, simulations are performed on C# to verify exactness and feasibility of the proposed inverse kinematic solutions.