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| 研究生： |
喬執中 Chin-Chung Chiao |
|---|---|
| 論文名稱： |
力量控制於機械手臂運動之應用 Application of Force Control on a Robot |
| 指導教授： |
董必正
Pi-Cheng Tung |
| 口試委員: | |
| 學位類別： |
碩士 Master |
| 系所名稱： |
工學院 - 機械工程學系 Department of Mechanical Engineering |
| 畢業學年度： | 89 |
| 語文別： | 中文 |
| 論文頁數： | 51 |
| 中文關鍵詞： | 複合控制 、順應控制 、模糊控制 、比例-積分-微分控制 、機械臂 |
| 外文關鍵詞： | Hybrid control, Compliant motion, Fuzzy control |
| 相關次數： | 點閱：11 下載：0 |
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Recent years, the application of robot is extensive. In order to recognize the relative position between robot and workpiece, CCD (change couple device) is applied to get the image information to orientate, but it is restricted by environment, and it’s not easy to apply extensively. In order to substitute CCD to measure the shape and position, we use a five-axis robot with a force sensor to do the contact measurement. Using the complaint motion controller, the end-effector with force sensor, which can detect the boundary of workpiece smoothly. And using the algorithm of Fuzzy applies in compliant motion, depending on this method improves the compliant control, when robot looks for the boundary of workpiece, it will be very fast and accuracy to look for the boundary of workpiece. In addition, depending on continuous experiments verify the practicability of compliant control algorithm by this thesis.
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