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    Please use this identifier to cite or link to this item: https://tkuir.lib.tku.edu.tw/dspace/handle/987654321/7370

    Title: 自動拋光系統的研發-子計畫二:自動拋光系統中接觸力感測器與力量控制系統的研發(I)
    Other Titles: Developments of Force Sensors and Force Controllers for Automated Surface Finishing Systems(I)
    Authors: 王銀添
    Contributors: 淡江大學機械與機電工程學系
    Keywords: 研磨;機器人臂;力量控制;力量觀測器;感測器;自由度;Grinding;Robot arm;Force control;Force observer;Sensor;Degree of freedom
    Date: 1997
    Issue Date: 2009-03-16 15:58:48 (UTC+8)
    Abstract: 本研究計畫係整合計畫「自動拋光系統之研發」中的子計畫。主要目的是要發展一套低成本且更具效率的力量感測器與力量控制系統,使用在機械手臂輔助研磨拋光系統。過去文獻中,機械手臂研磨機的力量控制大部份使用多軸(3至6軸)力量感測器,構成多軸力量控制器。在第一年,我們提議利用機械手臂定位與定方向的靈活性,降低力量感測器所需自由度,以簡化力量控制複雜性。第二年,我們發展主動式力量感測器,取代被動式感測器。方法是利用軟體式力量觀測器﹐以迴授的馬達角度與驅動器電流估算研磨力矩。這種觀測器不依賴硬體做力量量測,有能力減低研磨振動引起的問題。擬人化磨拋力控制器將在第三年發展與測試,以期達到熟練師傅的磨拋精度。另外,機械手臂運動奇異點與可撓性機械手臂的問題也會被探討。
    Appears in Collections:[Graduate Institute & Department of Mechanical and Electro-Mechanical Engineering] Research Paper

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