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題 名 | Compliant Motion Control of the Robot=機械手臂之順從性運動控制 |
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作 者 | 黃緒哲; 黃安橋; | 書刊名 | 中國工程學刊 |
卷 期 | 14:4 1991.07[民80.07] |
頁 次 | 頁407-417 |
分類號 | 448.94 |
關鍵詞 | 手臂; 控制; 順從性; 運動; 機械; |
語 文 | 英文(English) |
中文摘要 | 當機械手臂之運動軌跡受限於工作空間幾何形狀時即為順從性運動,其拘束運動 中之接觸力變化會妨礙機器人工業應用之準確度及造成穩定性問題。因此須有強健之控制法 則以克服因機器大振動及工件定位不準所引起之不確定性。 本文根據 Hogan 的阻抗控制理 論發展出一修改的阻抗控制法則以控制機械手臂與外界環境接觸之拘束運動中的接觸力及順 從性運動形態。其主要方法是在目標阻抗中加入一個互補力項以補償接觸力調節量,由電腦 模擬結果來證明其合理有效性。 |
英文摘要 | Compliant motion of a manipulator occurs when the manipulator moving trajectory is somehow constrained by the task geometry. The variational contact force induced during the constrained motion phase will invalidate the modern robotic controller in performing precise industrial opcrations and deteriorate the stability of the control system. For precision deburring and grinding, the robot oscillation and small uncertainties in the location of the part relative to the robot need to be appropriately compensated for. Therefore, a robust control law must be developed to solve this problem. Hybrid control and impedance control are the approaches that have been taken recently. The former requires some strategy to switch between position and force mode. while the latter cannot control the force history in an uncertain environment. This paper proposes a modified impedance control law based on Hogan's impedance control theory to control the compliant motion and the contact force between the robot and the environment during the contact phase of manipulation. A complement force has been added to the target impedance to provide convenient force compensation. Simulations show that both motion and force control are achieved with satisfactory results. |
本系統中英文摘要資訊取自各篇刊載內容。