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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 | Yean-Yia Lin | en |
dc.contributor.author | 林衍亦 | zh_TW |
dc.date.accessioned | 2021-07-11T15:38:03Z | - |
dc.date.available | 2023-08-21 | |
dc.date.copyright | 2018-08-21 | |
dc.date.issued | 2018 | |
dc.date.submitted | 2018-08-14 | |
dc.identifier.citation | [1] Beckhoff Automation. Retrieved May, 25, 2018, from https://www.beckhoff.com/twincat/
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dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/79030 | - |
dc.description.abstract | 本文致力於多軸機械手臂之抑振控制,提出一種在關節空間下前饋與回授結合的控制架構。前饋控制部分由零時滯輸入塑形進行軌跡規劃,並且加入末端點輪廓誤差的補償方法。一方面減少輸入塑形產生的輪廓誤差,一方面改善零時滯輸入塑形的缺點,減少時滯現象。回授控制部份則是一馬達端回授控制方法,負責馬達追蹤命令。為了結合這兩種控制方法,必須一併規劃塑形後軌跡命令的高次項微分。本文提出一種基於褶積性質的規劃方法而非使用數值微分,避免產生數值微分誤差。本文所提出之多軸機械手臂抑振控制理論與方法,經過模擬與實驗驗證之後,成效良好。 | zh_TW |
dc.description.abstract | This thesis addresses the vibration suppression of a multi-axis manipulator with the elastic joints. A feedforward/feedback control architecture in joint space is proposed. The feedforward control strategy is a zero time-delay input shaping with contour-error compensation, which not only compensates the contour error but also improves the disadvantage of the zero time-delay input shaping, and the polyreference least-squares complex frequency domain method (PolyMAX) is applied to estimate modal parameters, such as natural frequency and damping ratio. The feedback control strategy is a motor-side feedback control based on elastic-joint dynamics.
To combine the feedforward and feedback controls, this study proposes a method based on the properties of convolution, and the first four derivatives of the shaped command can be calculated instead of numerical differentiation, which is the necessary information for feedback control. The simulation and experimental results verify the performance of the proposed feedforward/feedback architecture for vibration suppression. This is more comprehensive than the performance of a single control strategy. | en |
dc.description.provenance | Made available in DSpace on 2021-07-11T15:38:03Z (GMT). No. of bitstreams: 1 ntu-107-R05522825-1.pdf: 5065142 bytes, checksum: 4278e46033c64df60c0d4c3692d6b4b2 (MD5) Previous issue date: 2018 | en |
dc.description.tableofcontents | 誌謝 i
摘要 iii Abstract v List of Tables ix List of Figures xi Nomenclature xiii Chapter 1 Introduction 1 1.1 Motivation 1 1.2 Related Works 2 1.3 Contributions 6 1.4 Organization of Thesis 8 Chapter 2 Kinematics and Dynamics of Robotics Systems 9 2.1 Elastic-Joint Dynamics 12 2.1.1 Elastic-Joint Model 12 2.1.2 Inverse Dynamics 13 2.1.3 Forward Dynamics 14 2.1.4 The Design of Controller 15 Chapter 3 Vibration Suppression Theory and Control 21 3.1 Modal Parameters Estimation 21 3.2 Input Shaping Approach 30 3.2.1 The Derivation of Input Shaping 30 3.2.2 Robust Input Shaper 34 3.2.3 Multi-Mode Input Shaper 37 3.2.4 Zero Time-Delay Input Shaping 37 3.2.5 Contour Error Compensation 39 3.3 New Feedforward/Feedback Control Architecture 44 Chapter 4 Simulations and Experiments 47 4.1 Hardware Platform 47 4.1.1 Specification of NTU Robot Manipulators 47 4.1.2 EtherCAT based Controller 50 4.2 Software Platform 52 4.3 Simulations Results 54 4.3.1 Nonzero time-delay input shaping 54 4.3.2 Zero time-delay input shaping with contour-error compensation 60 4.4 Experiments Results 66 4.4.1 Test of Single Axis 67 4.4.2 Vibration Suppression for Multi-Axis Manipulator 71 Chapter 5 Conclusions and Future Works 77 5.1 Conclusions 77 5.2 Future Works 78 References 79 Biography 87 | |
dc.language.iso | en | |
dc.title | 輸入塑形應用於六軸機械手臂之抑振控制 | zh_TW |
dc.title | Vibration Suppression of a Six-Axis Manipulator Using Input Shaping Approach | en |
dc.type | Thesis | |
dc.date.schoolyear | 106-2 | |
dc.description.degree | 碩士 | |
dc.contributor.oralexamcommittee | 劉孟昆(Meng-Kun Liu),蔡孟勳(Meng-Shiun Tsai),蔡清池(Ching-Chih Tsai) | |
dc.subject.keyword | 多軸機械手臂抑振控制,修正型零時滯-末端點軌跡誤差補償輸入塑形,基於彈性關節動力學之回授控制, | zh_TW |
dc.subject.keyword | Vibration Suppression of a Multi-Axis Manipulator,Modified Zero Time-Delay Input Shaping with Contour-Error Compensation,Feedback Control Based on Elastic-Joint Dynamics, | en |
dc.relation.page | 87 | |
dc.identifier.doi | 10.6342/NTU201803356 | |
dc.rights.note | 有償授權 | |
dc.date.accepted | 2018-08-14 | |
dc.contributor.author-college | 工學院 | zh_TW |
dc.contributor.author-dept | 機械工程學研究所 | zh_TW |
dc.date.embargo-lift | 2023-08-21 | - |
顯示於系所單位: | 機械工程學系 |
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