淡江大學機構典藏:Item 987654321/105823
English  |  正體中文  |  简体中文  |  全文笔数/总笔数 : 62819/95882 (66%)
造访人次 : 3997817      在线人数 : 585
RC Version 7.0 © Powered By DSPACE, MIT. Enhanced by NTU Library & TKU Library IR team.
搜寻范围 查询小技巧：
  • 您可在西文检索词汇前后加上"双引号"，以获取较精准的检索结果
  • 若欲以作者姓名搜寻，建议至进阶搜寻限定作者字段，可获得较完整数据
    •  进阶搜寻


    jsp.display-item.identifier=請使用永久網址來引用或連結此文件: https://tkuir.lib.tku.edu.tw/dspace/handle/987654321/105823


    题名: 基於模糊力量感測之六軸機械手臂的直覺式教導
    其它题名: Intuitive teaching of six-axis robot manipulator based on fuzzy force sensed
    作者: 游翔麟;You, Siang-Lin
    贡献者: 淡江大學電機工程學系碩士班
    翁慶昌;Wong, Ching-Chang
    关键词: 機械手臂;直覺式教導;教導和重現;模糊控制;力量控制;Robot Manipulator;Intuitive Teaching;Teach and Play;Fuzzy Control;Force Control
    日期: 2015
    上传时间: 2016-01-22 15:06:12 (UTC+8)
    摘要: 針對六軸機械手臂，本論文提出一個模糊力量感測控制方法以及一套直覺式教導系統的設計與實現方法。在六軸機械手臂之模糊力量感測控制的設計與實現上，本論文提出一個模糊控制器，首先用一個六軸力量感測器來獲得一個施於機械手臂末端點的推/拉力，並將其作為模糊控制器之輸入，然後經由模糊控制器來獲得一個末端點之目標速度，並且進行機械手臂的軌跡規劃，來控制機械手臂末端點的移動。此外，在移動控制的精準度上，為使其不受力量感測器所回授的高頻雜訊干擾，本論文使用巴特沃斯濾波器來對六軸力量感測器所感測的訊號進行低通濾波處理，使機械手臂可以被控制的更加平順。在直覺式教導系統的設計與實現上，本論文實現一個直覺教導的方式，讓教導者可以直接對機械手臂末端點施予推/拉力來移動手臂末端點的位置，並設計一個任務編輯器來進行任務位置及夾爪狀態的編輯及記錄，使機械手臂可以確實執行教導過程之任務位置及夾爪的移動。
    In this thesis, a design and implementation method of a fuzzy force control method and an intuitive teaching system is proposed for a six-axis robot manipulator. In the design and implementation of the fuzzy force control method, a fuzzy controller is proposed. First, a six-axis force sensor is applied to obtain a push/ pull force at the end-effector of robot manipulator. It is regard as the input of fuzzy controller. Then, the output of fuzzy controller is regarded as a target velocity of the end-effector and used to do a trajectory planning so that it can control the movement of the end-effector. Moreover, in order to let the high-frequency noise not interference with the sensor feedback to improve the accuracy of movement control, the Butterworth filter is applied to low-pass filter the sensing signal obtained by six-axis force sensor so that the robot manipulator can be controlled more smoothly. In the design and implementation of the intuitive teaching system, a way of intuitive teaching method is implemented so that an instructor can directly apply a push/ pull force on the end-effector of robot manipulator to move its position. A mission editor is designed to edit and record the task position and the gripper’s state so that the robot manipulator can indeed perform the movement of task position and the gripper from the teaching process.
    显示于类别:[電機工程學系暨研究所] 學位論文

    文件中的档案:

    档案 描述 大小格式浏览次数
    index.html0KbHTML136检视/开启

    在機構典藏中所有的数据项都受到原著作权保护.

    TAIR相关文章

    DSpace Software Copyright © 2002-2004  MIT &  Hewlett-Packard  /   Enhanced by   NTU Library & TKU Library IR teams. Copyright ©   - 回馈