淡江大學機構典藏:Item 987654321/109803
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    Please use this identifier to cite or link to this item: https://tkuir.lib.tku.edu.tw/dspace/handle/987654321/109803


    Title: 夾爪控制器的設計與實現
    Authors: 翁慶昌、彭千恩
    Keywords: 夾爪;電流感測器;模糊控制器;Gripper;Current Transducer;Fuzzy Controller
    Date: 2016-11-09
    Issue Date: 2017-03-07 02:12:28 (UTC+8)
    Abstract: 本論文提出一個可選擇夾爪力道模式之控制方法來設計實現一個夾爪系統，本論文使用Arduino微處理器為系統的控制板來確認夾爪是否有夾緊物件。依據不同的夾爪力道模式以及夾取時電流感測器所感測的電流值，本論文設計一個模糊控制器來決定一個可以夾取物件之直流有刷馬達的速度。其原理是當夾爪接觸物件時會產生阻力，並且會使馬達的電流產生變化，利用電流的變化來控制馬達轉速。由實驗結果可知，本論文所提之控制方法確實可以提升夾爪的開合速度與精準度。
    Relation: iFUZZY 2016
    Appears in Collections:[Graduate Institute & Department of Electrical Engineering] Proceeding

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    夾爪控制器的設計與實現.pdf全文2056KbAdobe PDF639View/Open
    夾爪控制器的設計與實現_議程.pdf651KbAdobe PDF230View/Open

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