- 學位論文
機器手臂系統鑑別與控制器參數調校之研究
System Identification and Control Parameter Tuning Techniques for Robotic Arm
摘要
關節式機器手臂無論在醫療、軍事、工業等地方都有著相當多應用，在工業上更是逐漸取代許多重複性高、高危險性及裝配工作等事務，相對地在速度、準度與精度方面要求也逐漸提升。為了達到高速高精度的目標，首先最重要就是瞭解馬達內部特性，透過伺服調整來提升機器手臂整體穩定性及精度，並進一步提升機器手臂的效能。 本論文將針對關節式機器手臂提出一套調機程序與慣量估測方法，由於關節式機器手臂屬於一變結構系統，動態行為會因為不同姿態而改變，單一伺服參數可能無法滿足各姿態的系統特性。在參數調整之前必須瞭解驅動器中參數關係，並對於各軸進行系統鑑別。透過實驗頻譜響應，經由本論文提出一套調機程序將幫助使用者尋找出最佳參數，並提升機台性能已朝向高速高精邁進。 通常機器手臂末端會有不同夾爪執行不同動作，使得負載慣量會有變化，經由本論文提出慣量估測方法，能有效針對手臂進行負載慣量估測及進行伺服參數修正，以維持機台最佳狀態。
並列摘要
Articulated robotic arms in the medical, military, industrial and other places have a considerable number of applications. They are gradually replacing many repetitive, high risk and assembly work and other matters. Recently, the requirements on robotic arms in speed, accuracy and precision are gradually increased. In order to achieve the goal of high speed and precision, the first and most important issue is to understand the internal characteristics of the motor. Through servo tuning, one can improve the overall stability and precision of the robot arm and further enhance the effectiveness of robotic arm. This thesis proposes a set of servo tuning procedures and inertia estimation method for articulated mechanical arm. Due to the articulated arm is a variable structure system, dynamic behavior will be changed under different postures. Single servo parameter set may not meet the dynamic characteristics of robot arms under different position. To perform parameter adjustment must understand the relationship between the drive parameters which can be done by performing each axis system identification and through experimental spectral response. The thesis paper presents a set of servo tuning method which will assist the user to find out the optimal parameters, enhance the performance of the robot arm, and achieve high speed and high precision objectives. Usually, the end effector of the robotic arm has different gripper performing different actions. Under this situation, load inertia will be changed. Inertia estimation method proposed in this thesis can effectively estimate robotic arm load inertia estimation and modify servo parameters to achieve optimum performances of mechanical arm.