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| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 李志中 | |
| dc.contributor.author | Wei-Chieh Su | en |
| dc.contributor.author | 蘇維傑 | zh_TW |
| dc.date.accessioned | 2021-06-13T01:14:47Z | - |
| dc.date.available | 2009-07-23 | |
| dc.date.copyright | 2007-07-23 | |
| dc.date.issued | 2007 | |
| dc.date.submitted | 2007-07-20 | |
| dc.identifier.citation | 參考文獻
1. J. K. Salisbury, Kinematic and Force Analysis of Articulated Hands, PhD. Dissertation, Dept. of Mechanical Engineering, Stanford University, Stanford, CA, (1982) 2. S. C. Jacobsen, J.E. Wood, D.F. Knutti and K.B. Biggers, “The Utah-MIT Dexterous Hand: Work in Process,”The Int’l J. of Robotics Research, 3 (4) (1985) 21-50. 3. C.Li and C.D. Rahn,“Design of Continuous Backbone, Cable-Driven Robots, “ASME J. of Mechanical Design, 124(2), (2002) 265-271. 4. A. Morecki, J. Ekiel, K. Fidelus,“Cybernetic Systems of Limb Movement in Man, Animals and Robot”, Ellis Horwood Limited, Warszaa, Poland, PWN-Polish Scientific Publishers. 5. G.P. Starr,“Cartiesian Stiffness Control of the JPL/Stanford/Salisbury Hand’’, Proceeding of 1988 IEEE International Conference on Robotics and Automation, Philadelphia, PA, USA, April 24-29, 1988, pp.636-637. 6. G. Guo, W.A. Gruver and X. Qian,“A Robotic Hand Mechanism with Rotating Fingertips and Motor-Tendon Actuation’’, Proceedings of the1991 IEEE International Conference on Systems, man, and Cybernatic, Charlottesville, VA, USA, Oct. 13-16, 1991, pp.1023-1028. 7. A.K. Wrighy and M.M. Stanisic,“Kinematic Mapping Between the Exos Handmaster Exoskeleton and the UTAH/MIT Dextrous Hand’, Proceeding of 1990 IEEE International Conference on Systems Engineering, Pittsburgh, PA, USA, Aug, 9-11, 1990, pp.101-104. 8. G.M. Prisco and M. Bergamasco,“Dynamic Modeling of a Class of Tendon Driven Manipulators,” Proc IEEE Int’l Conf on Robotics and Automation, Monterey, California. 9. Y.H. Lee and J.J. Lee,“Modeling of the Dynamics of Tendon-Driven Robotic mechanisms with Flexible Tendon,” Mechanism and Machine Theory, 38(12), (2003) 1431-1447. 10. A. Morecki, Z. Busko, H. Gasztold and, K. Jaworek,“Systhesis and Control of the Anthropomorphic Two-Handed Manipulator,“Proc. of the 10th Int’l Symposium on Industrial Robots, (1980) 461-474. 11. J.K. Salisbury, J.J. Craig,“Articulated Hands: Force Control and Kinematic Issues,” Intl. J. Robotics Res., vol. 1, no. 1, Spring 1982. 12. M.G. Hollars and R.H. Cannon,“Initial Experiment on the End-point Control of A Two-link Manipulator with Flexible Tendon,”ASME Winter Annual Meeting, Miami, FL, (1985). 13. Stephen C. Jacobsen, Hiekeun KO, Edwin K. Iversen, and Clark C. Davis,“Control Strategies for Tendon-Driven Manipulators”,1989 IEEE Conference on Robotics and Automation, Scottsdale, Arizona, May 14-19, 1989. 14. H.C. Yen,“Compliance Analysis and Tendon Force Control for Tendon-Driven Robotic Mechanism with Flexible Tendons”, Department of Mechanical Engineering National Taiwan University, Master Thesis, 2004. 15. M.T. Huang,“Control of Dexterous Manipulation Using a Tendon-Driven Robot Hand”, Department of Mechanical Engineering National Cheng Kung University, Master Thesis , 1999. 16. Kazuaki Kawanish, Hiroyuki Hashizumi, Yoshinari OKI, Yasuhide NAKANO, Toshio FUKUDA, Gancho VACHKOV, Fumihito ARAI, Yasuhisa HASEGAWA,“Position and Elasticity Control for Biomimetric Robot finger“, 2000 IEEE, pp.870-875. 17. Lloyd W. Rainey III, M.B. Leahy Jr.,“Direct Adaptive Control for Tendon-Driven Manipulators”, Proceeding of 1991 IEEE International Symposium on Intelligent Control 13-15 August 1991, Arlington Virginia, USA. 18. Shugen Ma, Mitsuru Watanabe, “Minimum-time Control of Coupled Tendon-driven Manipulators”, Proceedings of the 2000 IEEE/RSJ International Conference on lntelligen t Robots and Systems, 2000 IEEE, pp.215-220. 19. M. Kaneko, W. Paetsch, and H. Tolle,“Input-Dependent Stability of Joint Torque Control of Tendon_Driven Robot Hands”, IEEE Trans. on. Industrial Electronics, 39(2) (1992) 96-104. 20. M.H. Raibert and J.J. Craig,“Hybrid position/Force Control of Manipulator”, Journal of Dynamic System, Measurement, and Control---Transactions of the ASME, Vol. 102, June 1981, pp. 126-133. 21. D.E. Whitney,“ Historical Perspective and State of the Art in Robot Force Control”, International Journal of Robotics Research, Vol. 6, No.1, Spring 1987, pp.3-13. 22. L. A. Zadeh, “Fuzzy sets”, Inform. Control, vol. 8, pp. 338–352,1965. 23. E. H. Mamdani, 'Application of fuzzy logic to approximate reasoning using linguistic synthesis,' this issue, pp. 1182-1191. 24. 蘇木春, 張孝德“機器學習：類神經網路，模糊系統以及基因演算法則”, 全華科技圖書公司, 中華民國93年. 25. 王文俊,“認識FUZZY”, 全華科技圖書公司, 2005. | |
| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/29684 | - |
| dc.description.abstract | In this thesis, fuzzy control for a tendon-driven robotic mechanism with flexible tendon is studied. Because of the nonlinear. effect of the tension is tendons, the equation of motion of the system is thus nonlinear and difficult to control.
To design the controller for the tendon-driven mechanism using fuzzy theory, controller parameters are derived from our experience in force control. First, the membership function for the fuzzy set are developed according to the position error, rate of change of the position error, and tension in tendon. Then, the proper parameters are obtained by simulating the system. Finally, an experiment is conducted to verify the concept. In addition, the PI controller is compare with the fuzzy controller. The results shows that in step response, the system with fuzzy controller exhibits better performance in steady-state and tendon force than that of the system using PI controller. In sinusoidal wave response, the system with fuzzy controller exhibits bigger oscillation than PI controller. | en |
| dc.description.provenance | Made available in DSpace on 2021-06-13T01:14:47Z (GMT). No. of bitstreams: 1 ntu-96-R93522633-1.pdf: 527263 bytes, checksum: 8a82026e3f6a888600d30921d6810f4a (MD5) Previous issue date: 2007 | en |
| dc.description.tableofcontents | 目 錄
誌謝 i 中文摘要 ii 英文摘要 iii 目錄 iv 表目錄 vii 圖目錄 viii 第一章 緒論 1 1.1 前言 1 1.2 文獻回顧 2 1.3 研究動機與目標 3 1.4 本文介紹 3 第二章 撓性腱驅動機構 5 2.1 前言 5 2.2 基本假設 5 2.3 動力方程式 5 第三章 模糊控制器之理論與控制器設計 8 3.1 前言 8 3.2 模糊理論基本原理 8 3.2.1 模糊集合 8 3.2.2 模糊關係 11 3.3 模糊控制基本結構 12 3.4 模糊控制器製作 16 3.4.1 前言 16 3.4.2 模糊控制器建立 16 3.4.3 控制器之輸入變數 18 3.4.4 控制器之模糊規則庫 21 3.4.5 控制器之輸出變數 24 3.5 微調模糊控制器 25 3.6 模糊控制器之模擬 29 3.6.1 步階輸入之模擬 29 3.6.2 弦波函數輸入之模擬 33 3.7 PI控制器 36 3.8 模糊控制器與PI控制器之比較 39 第四章 腱驅動控制實驗 41 4.1 實驗機構 41 4.2 實驗設備 42 4.3 實驗流程 43 4.3.1 滑輪3角度的量取 43 4.3.2 腱張力之量測 44 4.3.3 控制器的補償 44 4.3.4 馬達定位控制 45 4.4 模糊控制器之模擬與實驗結果 45 4.4.1 步階輸入 46 4.4.2 弦波函數輸入 50 4.5 模糊控制器與PI控制器之實驗比較結果 53 4.6 討論 57 第五章 結論與未來研究方向 58 5.1 結論 58 5.2 未來研究方向 58 參考文獻 R-1 附錄 A 符號說明 A-1 附錄 B 腱驅動機構設備 B-1 附錄 C 腱驅動機構零件圖 C-1 | |
| dc.language.iso | zh-TW | |
| dc.title | 具撓性腱驅動機構之模糊控制 | zh_TW |
| dc.title | Fuzzy Control for Tendon-Driven Robotic Mechanisms with Flexible Tendons | en |
| dc.type | Thesis | |
| dc.date.schoolyear | 95-2 | |
| dc.description.degree | 碩士 | |
| dc.contributor.coadvisor | 陳永耀 | |
| dc.contributor.oralexamcommittee | 黃漢邦 | |
| dc.subject.keyword | 模糊控制,撓性腱驅動機構,腱張力,腱鬆弛, | zh_TW |
| dc.subject.keyword | fuzzy control,flexible tendon,tendon force,tendon-driven robotic mechanism, | en |
| dc.relation.page | 63 | |
| dc.rights.note | 有償授權 | |
| dc.date.accepted | 2007-07-20 | |
| 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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