機器人技術至今已經被廣泛的發展，從傳統的工業用機器手臂到現今的智慧型機器人、手術用機器人，都可發現其重要性與未來的發展性。本論文主要探討的是手術用機器人，利用自製的操控器，透過電腦TCP/IP連接傳輸，控制機器手臂進行手術的操作。文中的機器手臂為工研院機械所研製的五軸旋轉型小型裝配機械臂，由於在各軸皆使用傳統的比例微分控制器，使得其動態響應特性易受到外界干擾及參數變動影響。在控制法則上，為了解決其摩擦力所造成的嚴重非線性效應，引入了適應控制與滑動控制來解決其所造成的影響。

目錄　i
圖目錄　iv
表目錄　viii
第一章　緒論　1
1.1　研究動機與目的　1
1.2　文獻回顧　3
1.2.1　腹腔鏡手術機器人的發展　3
1.2.2　摩擦力的研究回顧　4
1.3　論文簡介　6
第二章　系統運動分析　7
2.1　腹腔鏡手術的操作方式及運動分析　7
2.2　機器手臂與腹腔鏡手術刀的自由度問題　9
2.3　摩擦力的簡介與模型的建立　13
2.3.1　摩擦力簡介　13
2.3.2　摩擦力模型　14
第三章　系統整體架構的介紹　17
3.1　控制端(MASTER)　17
3.1.1　機構設計　17
3.1.2　運動靜力學分析　18
3.2　被控端(SLAVE)　20
3.2.1　機構設計　20
3.2.2　運動靜力學分析　21
3.3　系統整體架構　28
3.3.1　系統整體架構介紹　28
3.3.2　控制端與被控端之間的訊號連結關係　30
3.4　影像回授訊號　31
3.5　力量回授訊號　32
第四章　控制策略介紹　35
4.1　遠端控制(Teleoperation)　35
4.2　被控端－機器手臂動態分析(Modeling of Robot)　35
4.3　摩擦力補償　37
4.3.1　基本參數定義　37
4.3.2　利用Lyapunov theory分析其穩定性　39
4.3.3　參數漂移　41
4.4　摩擦力補償模擬結果　42
第五章　實驗結果　46
第六章　結論與未來工作　59
6.1　結論 　59
6.2　未來工作　60
參考文獻　61
Appendix Ａ　五軸Ａ型機械臂的運動靜力學分析　65
Appendix Ｂ　Ａ型機械臂硬體參數與規格　68
Appendix Ｃ　Ａ型機械臂動態方程式參數　71

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