請用此 Handle URI 來引用此文件：
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| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 黃漢邦 | zh_TW |
| dc.contributor.advisor | Han-Pang Huang | en |
| dc.contributor.author | 李承璋 | zh_TW |
| dc.contributor.author | Cheng-Jhang Lee | en |
| dc.date.accessioned | 2023-10-03T17:33:01Z | - |
| dc.date.available | 2023-11-09 | - |
| dc.date.copyright | 2023-10-03 | - |
| dc.date.issued | 2023 | - |
| dc.date.submitted | 2023-08-09 | - |
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| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/90772 | - |
| dc.description.abstract | 使機器人能在人類生活中更廣泛的使用是一直以來大家研究機器人的目標，然而阻抗控制在剛性環境有較好的表現，而導納控制在軟性環境有較好的表現。因此本篇論文著重在這兩種控制器的整合，並將其整合為切換控制系統，透過模糊任務導向控制及模糊滑模控制來構建切換系統使其適當的在兩控制器間切換。此外，我們整合雙重模糊架構、導納補償器、自適應參數估計到整體架構中以增進整體系統在力及位置的控制。另外，我們使用多個模糊控制來幫助系統根據環境來改變系統參數使機器人能在力及位置上有更好的控制及表現。為了印證我們控制器的可行性，我們使用 Adams-Matlab 偕同仿真來比較我們所提出的控制器和其他控制器的差別，在實驗中我們使用兩種不同的機器人來應用我們的控制器，透過寫字及人機互動來展示我們的控制器使機器人能在剛性及軟性環境皆能有好的表現。 | zh_TW |
| dc.description.abstract | Making the robot widely used is one of the most important topics in robotics research. However, impedance control works well in stiff environments, while admittance control works well in soft environments. Therefore, this thesis primarily focuses on integrating the two controllers into a switch system. This switch system utilizes fuzzy task-oriented control and fuzzy sliding mode control to enable moderate switching between the two systems. Additionally, we integrate a dual fuzzy structure, admittance compensator, and adaptive parameter estimation into the system to enhance the position and force tracking performance of the overall structure. Furthermore, we employ numerous fuzzy control techniques to adjust the parameters based on the robot's environment, thereby improving the robot's performance in position and force tracking. To verify the feasibility of the controller, we conduct simulations using the Adams-Matlab co-simulation to compare our proposed controller with other original control systems. In the experiments, we employ two types of manipulators to implement our controller. We test the manipulators in both soft and stiff environments. The robot writes words and interacts with humans to demonstrate the stiffness and compliance of the robot manipulator. | en |
| dc.description.provenance | Submitted by admin ntu (admin@lib.ntu.edu.tw) on 2023-10-03T17:33:01Z No. of bitstreams: 0 | en |
| dc.description.provenance | Made available in DSpace on 2023-10-03T17:33:01Z (GMT). No. of bitstreams: 0 | en |
| dc.description.tableofcontents | Contents
誌謝 i 摘要 iii Abstract v List of Tables xi List of Figures xvi Chapter 1 Introduction 1 1.1 Motivation 1 1.2 Contribution 3 1.3 Organization of Thesis 4 Chapter 2 Kinematics and Dynamics 6 2.1 Kinematics 7 2.1.1 Forward Kinematics 13 2.1.2 Jacobian Matrix 14 2.1.3 Inverse Kinematics 15 2.1.4 Singular and Joint Limit Avoidance 16 2.2 Dynamics 17 Chapter 3 Impedance Control and Admittance Control 19 3.1 Introduction 19 3.2 Fuzzy Control 21 3.3 Impedance Control 27 3.3.1 Dual Fuzzy Structure 28 3.3.2 Admittance Compensator 34 3.3.3 Adaptive Parameter Estimation 40 3.3.4 Summary of Impedance Control 46 3.4 Admittance Control and Dual Fuzzy Structure 48 Chapter 4 Switch Impedance and Admittance Control 53 4.1 Introduction 53 4.2 Switch Method and Switch System 54 4.2.1 Fuzzy Task-Oriented Control 54 4.2.2 Environment Stiffness Estimation 56 4.2.3 Switch Adjustment and Input Control 57 4.2.4 Switch Method 65 4.3 Discussions 102 Chapter 5 Hybrid Impedance and Admittance Control 103 5.1 Stability of Hybrid Impedance and Admittance Control 107 5.2 Discussions of Stability 109 Chapter 6 Simulations 110 6.1 Introduction 110 6.2 Impedance Control with Dual Fuzzy Structure 116 6.3 Impedance Control with Admittance Compensator 121 6.4 Impedance Control with Adaptive Parameter Estimation 126 6.5 Impedance Control with Overall Structure 131 6.6 Admittance Control with Dual Fuzzy Structure 139 6.7 Hybrid Impedance Control and Admittance Control 142 6.8 Summary 147 Chapter 7 Experiments 149 7.1 Software Platform 149 7.2 Hardware Platform 153 7.2.1 Six – DOF Robot Manipulator 153 7.2.2 Dual Arm-Hand Manipulator 156 7.2.3 NTU Robotic Hand VI 159 7.2.4 Sensors 163 7.3 Experiments (Applications to Six-DOF Robot Manipulator) 168 7.3.1 Introduction and Settings 169 7.3.2 Write Words with Robot Arm Part I 174 7.3.3 Write Words with Robot Arm Part II 193 7.3.4 Write Words with Robot Arm Part III 206 7.3.5 Discussions (six-DOF robot manipulator) 210 7.4 Experiments (Applications to MOBI) 211 7.4.1 Hand Shaking 212 7.4.2 Hand Shaking with Moving of Mobile Robot 221 7.4.3 Human Robot Interaction Part I 224 7.4.4 Human Robot Interaction Part II 232 7.4.5 Catch Ball with Soft Anthropomorphic Robotic Hand 240 7.4.6 Discussions (MOBI) 244 Chapter 8 Conclusions and Future Works 246 8.1 Conclusions 246 8.2 Future Works 247 References 248 | - |
| dc.language.iso | en | - |
| dc.title | 人機互動的複合阻抗及導納控制 | zh_TW |
| dc.title | Hybrid Impedance and Admittance Control for Human Robot Interaction | en |
| dc.type | Thesis | - |
| dc.date.schoolyear | 111-2 | - |
| dc.description.degree | 碩士 | - |
| dc.contributor.oralexamcommittee | 劉益宏;程登湖;林峻永 | zh_TW |
| dc.contributor.oralexamcommittee | Yi-Hung Liu;Teng-Hu Cheng;Chun-Yeon Lin | en |
| dc.subject.keyword | 雙機械手臂手掌控制,阻抗控制,導納控制,切換控制系統,模糊控制,滑模控制, | zh_TW |
| dc.subject.keyword | Robot Dual Arm-Hand System,Impedance Control,Admittance Control,Switching Control System,Fuzzy Control,Sliding Mode Control, | en |
| dc.relation.page | 253 | - |
| dc.identifier.doi | 10.6342/NTU202302739 | - |
| dc.rights.note | 未授權 | - |
| dc.date.accepted | 2023-08-10 | - |
| dc.contributor.author-college | 工學院 | - |
| dc.contributor.author-dept | 機械工程學系 | - |
| 顯示於系所單位： | 機械工程學系 | |
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