基於模糊力量感測之六軸機械手臂的直覺式教導

Intuitive Teaching of Six-axis Robot Manipulator Based on Fuzzy Force Sensed

游翔麟(Siang-Lin You)

指導教授 ： 翁慶昌

淡江大學/工學院/電機工程學系碩士班/碩士(2015年)

https://doi.org/10.6846/TKU.2015.00428

摘要

針對六軸機械手臂，本論文提出一個模糊力量感測控制方法以及一套直覺式教導系統的設計與實現方法。在六軸機械手臂之模糊力量感測控制的設計與實現上，本論文提出一個模糊控制器，首先用一個六軸力量感測器來獲得一個施於機械手臂末端點的推/拉力，並將其作為模糊控制器之輸入，然後經由模糊控制器來獲得一個末端點之目標速度，並且進行機械手臂的軌跡規劃，來控制機械手臂末端點的移動。此外，在移動控制的精準度上，為使其不受力量感測器所回授的高頻雜訊干擾，本論文使用巴特沃斯濾波器來對六軸力量感測器所感測的訊號進行低通濾波處理，使機械手臂可以被控制的更加平順。在直覺式教導系統的設計與實現上，本論文實現一個直覺教導的方式，讓教導者可以直接對機械手臂末端點施予推/拉力來移動手臂末端點的位置，並設計一個任務編輯器來進行任務位置及夾爪狀態的編輯及記錄，使機械手臂可以確實執行教導過程之任務位置及夾爪的移動。

關鍵字

機械手臂 ； 直覺式教導 ； 教導和重現 ； 模糊控制 ； 力量控制

並列摘要

In this thesis, a design and implementation method of a fuzzy force control method and an intuitive teaching system is proposed for a six-axis robot manipulator. In the design and implementation of the fuzzy force control method, a fuzzy controller is proposed. First, a six-axis force sensor is applied to obtain a push/ pull force at the end-effector of robot manipulator. It is regard as the input of fuzzy controller. Then, the output of fuzzy controller is regarded as a target velocity of the end-effector and used to do a trajectory planning so that it can control the movement of the end-effector. Moreover, in order to let the high-frequency noise not interference with the sensor feedback to improve the accuracy of movement control, the Butterworth filter is applied to low-pass filter the sensing signal obtained by six-axis force sensor so that the robot manipulator can be controlled more smoothly. In the design and implementation of the intuitive teaching system, a way of intuitive teaching method is implemented so that an instructor can directly apply a push/ pull force on the end-effector of robot manipulator to move its position. A mission editor is designed to edit and record the task position and the gripper’s state so that the robot manipulator can indeed perform the movement of task position and the gripper from the teaching process.

並列關鍵字

Robot Manipulator ； Intuitive Teaching ； Teach and Play ； Fuzzy Control ； Force Control

參考文獻

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