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題 名 | 撓性機械手臂碰撞障礙物之動力與控制策略分析=Dynamic and Control of the Flexible Link Arm Against a Massive Obstacle |
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作 者 | 林仲廉; | 書刊名 | 健行學報 |
卷 期 | 19:1 1999.12[民88.12] |
頁 次 | 頁85-93 |
分類號 | 448.94 |
關鍵詞 | 撓性機械手臂; 障礙物; 不等拘束; Flexible link arm; Obstacle; Inequality constraints; |
語 文 | 中文(Chinese) |
中文摘要 | 撓性機械手臂由於具有質輕、節省材料、省能源與快速運動等優點,已經成為具有潛力的新型機械手臂。本計畫的主要目的為撓性機械手臂碰撞障礙物時的動力與控制策略分析,以了解新世代的機械手臂於碰撞障礙物後所產生種種動力與控制的問題。本文係引用不等拘束(inequality constraints)的理論基礎,決定因障礙物所造成的拘束條件,並同時探討其動力結構分析及推導出其動力方程式,及討論衝擊時間對系統的影響。在控制策略研擬及穩定性分析上,將利用輸出回饋控制的方法,使撓性手臂在碰撞障礙物後能迅速達到穩定狀態,且當撓性手臂在接觸障礙物後,其手臂的撓曲量仍足以承受整體結構而達到穩定系統。 |
英文摘要 | A light flexible link robot arm has many advantages compared to conventional rigid link robots such as lower power consumption, higher payload-to robot weight ratio, lower manufacturing cost, and easier transportation to name a few. Hence, there is strong motivation to develop advanced robotic systems. The main object of this research is concentrated on the dynamic and control of the flexible link robot arm against a massive obstacle. A massive obstacle is located in the plane motion at a certain point, so that the beam cannot freely move in the whole plane. Equality constraints and inequality constraints will be considered on the motion tasks and the method of the Valentine variables is used to take into account the constraints. Furthermore, using Euler-Lagrange equation could develop the system dynamic equations. Finally, the control scheme and stability analysis will implement on the system. The control strategy will use a natural output feedback control to eliminate the vibration and impact force of the beam. |
本系統中英文摘要資訊取自各篇刊載內容。