具撓性腱驅動機構之模糊控制

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.