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完整後設資料紀錄
DC 欄位 | 值 | 語言 |
---|---|---|
dc.contributor.advisor | 黃漢邦(Han-Pang Huang) | |
dc.contributor.author | Jyun-Hong Yeh | en |
dc.contributor.author | 葉峻弘 | zh_TW |
dc.date.accessioned | 2021-06-08T07:17:34Z | - |
dc.date.copyright | 2008-08-05 | |
dc.date.issued | 2008 | |
dc.date.submitted | 2008-07-25 | |
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dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/26614 | - |
dc.description.abstract | 本論文主要的目的,是設計一個多軸的運動控制器。配合適當的演算法和控制器設計,來達成良好的空間操作精度。
在機器人運動分析上,我們利用順向及逆向運動學,透過結合ADAMS/Control和MATLAB/Simulink的動態模擬器,在機器手臂實現運動規劃和系統模擬。並且利用逆向動力學模型,來分析系統運動模型和驗證控制器性能。 在控制演算法部份,藉由探討多軸運動的特性和模型,本文提出ㄧ套多軸運動控制和補償方法。考慮到多軸的同步性和軌跡追蹤控制的關係,能對各軸運動做出及時的修正和補償。並且提出強韌性多軸控制器。相對於傳統單軸控制方法,機器手臂的空間位置精度能有良好的提升。 而在最終實際控制硬體上,我們利用由DSP和FPGA結合的嵌入式系統,實現多軸馬達運動控制。並結合一套可靠的運動控制器和人機介面,來完成本多軸運動控制器的建置,加以驗證並應用於機械手臂系統中。 | zh_TW |
dc.description.abstract | The main purpose of this thesis is to design a multi-axis motion controller and achieve good tracking performance in work space.
In the motion analysis of our system, we use forward and inverse kinematics methods in ADMAS and MATLAB Simulink to simulate trajectory generation and system dynamics. And by returning the data in ADMAS to MATLAB, we can verify the tracking performance of our controller. In control algorithm design, we analyzed the multi-axis motion system to find a better multi-axis controller and error compensator. Considering the relationship between the synchronization and contouring control of multi-axis systems, we can apply the modification and propose a robust controller to compensate each axis in real-time. With the comparison to the conventional controller, the novel multi-axis motion controller can provide precise position accuracy for multi-axis robotics manipulators in task space. Finally, in the integration of control hardware, we employed an embedded motion controller which combines DSP and FPGA to realize multi-axis motion controller. We also integrate a reliable motion controller and GUI into robotics motion control system to verify the whole system performance. | en |
dc.description.provenance | Made available in DSpace on 2021-06-08T07:17:34Z (GMT). No. of bitstreams: 1 ntu-97-R95522803-1.pdf: 2419680 bytes, checksum: 79b1d410b9435124b6f438ad61cf14ec (MD5) Previous issue date: 2008 | en |
dc.description.tableofcontents | 誌謝 II
List of Tables IX List of Figures X Chapter 1 Introduction 1 1.1 Motivation 1 1.2 Related Works 3 1.3 Thesis Organization 7 1.4 Contribution 9 Chapter 2 Kinematics and Dynamics of Robotics Systems 11 2.1 Kinematics and Local Optimization Analysis 11 2.1.1 Forward and Inverse Kinematics 11 2.1.2 Singularity Avoidance 13 2.1.3 Joint Limit Avoidance 15 2.1.4 RWLS Inverse Kinematics 18 2.2 Trajectory Planning 21 2.2.1 Modified Tension Spline 22 2.3 Dynamic Modeling and Analysis 28 2.3.1 Dynamic Motion Formulation 29 2.3.2 Robot Manipulator Modeling 31 Chapter 3 Multi-Joint Control Scheme 37 3.1 The Independent Joint Controller of Robotics 37 3.2 Resolve Motion Rate Control 41 3.3 Pseudo-inverse Trajectory Control 43 3.4 Multi-Joint Control Analysis 44 3.5 Cross-Coupling Synchronizing Control for Multi-Joint Systems 49 3.5.1 The Analysis on Tracking Error and Contouring Error Model 49 3.5.2 Error Synchronization Cross-Coupling Control 58 3.5.3 The Estimated Contouring Error Vector Approach 63 3.6 A New Coordinated Cross-Coupling Synchronization Control 69 3.7 Robust Coordinated Cross-Coupling Synchronization Control 75 3.8 Simulation Results and Verifications 79 Chapter 4 Integration of the Multi-Joint Robotics Control System 88 4.1 Integration of the Hardware Control System 88 4.1.1 Communication and Motion Control Module 89 4.1.2 Motor Controller and Signal Process Module 91 4.1.3 Driver Modules 94 4.2 The Framework of Central Control Process 95 4.3 Experiments and Results 97 Chapter 5 Conclusions and Future Works 102 5.1 Conclusions 102 5.2 Future Works 103 5.3 References 105 | |
dc.language.iso | en | |
dc.title | 多軸機械手臂運動控制器之發展 | zh_TW |
dc.title | Development of A Multi-Axis Motion Controller for Robotic Manipulator Systems | en |
dc.type | Thesis | |
dc.date.schoolyear | 96-2 | |
dc.description.degree | 碩士 | |
dc.contributor.oralexamcommittee | 宋開泰(Kai-Tai Song),蔡清元(Tsing-Iuan Tsay) | |
dc.subject.keyword | 機器人系統軌跡規劃,馬達控制,多軸運動控制,交叉耦合控制,同步運動控制,強韌性控制, | zh_TW |
dc.subject.keyword | Trajectory planning of robotics,Motor Control,Multi-Axis Control,Cross-Coupling Control,Synchronization Control,Robust Control, | en |
dc.relation.page | 114 | |
dc.rights.note | 未授權 | |
dc.date.accepted | 2008-07-28 | |
dc.contributor.author-college | 工學院 | zh_TW |
dc.contributor.author-dept | 機械工程學研究所 | zh_TW |
顯示於系所單位: | 機械工程學系 |
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