| Summary: | 碩士 === 國立臺灣大學 === 電機工程學系 === 85 === In this thesis, we propose a method of controlling a deburring
flexible manipulators. All of the analysis in the
thesis are under the curved coordinates. The goal of the
automated deburring is to remove the burrs at
a constant tangential cutting force. Therefore, maintaining a
constant contact normal force and constant
tangential cutting force is required. The dynamics
of both the deburring process and the flexible manipulator will
be investigated in detail, and the latter will be derived
using Lagragian method with assume-mode approach.
To facilitate the controller design, a singular
perturbation technique is then utilized to separate
the system into a slow subsystem and a fast subsystem.
For solving the deburring problem, a new hybrid force/position
controller is proposed for the slow subsystem, it is
implemented by adaptive control strategy, whereas a dynamic
feedback controller is developed for the fast subsystem.
It is shown that both the position tracking error and the force
error will converge to zero as time approach infinity.
Finally, the
computer simulations and experiments of a two-link flexible
manipulator confirm the effectiveness of the proposed
adaptive controller.
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