Hybrid force/position control for robot manipulators mounted on oscillatory bases

• Main Authors: Chun-Chiang Lin, 林俊江
• Other Authors: Jonq-Lan Lin
• Format: Others
• Language: zh-TW
• Published: 2008
• Online Access: http://ndltd.ncl.edu.tw/handle/24032385877622315447

碩士 === 清雲科技大學 === 機械工程系所 === 97 === Complex robotic systems have recently garnered increased attention in many fields. An example of such a system is a dexterous manipulator mounted on a flexible base. In literature, such systems are known as macro-micro systems, characterized by the number of control actuators than state variables. The dynamic equation of the robot manipulators mounted on oscillatory bases by using Lagrange formulation is proposed in this research. The equation for robot system motion in the joint space can then be represented as Cartesian space coordinates based on the Jacobian matrix. Under the assumption that the manipulator is kinematically redundant, the pseudo-inverse matrix was introduced in the system. Therefore, this work proposes pseudo-inverse Jacobian feedback control laws and applies grey relational analysis for tuning outer-loop PID control parameters of Cartesian computed- torque control law for robotic manipulators mounted on oscillatory bases. Experiments are conducted to confirm the efficiency of the proposed methodology. As for the perspective, this study primary uses PID control rule, which commonly used in industry, and adjusts the optimum control parameter value of localization of the mechanical arm end of the PID controller by using the ash connection. Moreover, this research also uses error path of the optimum parameter, the erroneous differential and the output relations of the PID controller by ANFIS (adaptive network fuzzy inference system) to observe whether the inaccuracy have been reduced or not. This part is about putting these two kinds of control schemes, PID and the ANFIS, into controlling the force/position of the mechanical arm on the oscillatory bases. The conclusion of research may apply in the design of compound control of the force/position that related to mechanical arm system.