Study on External Force Estimation and Compliance Control of Selective Compliance Assembly Robot Arm

• Main Authors: Chih-HaoHu, 胡智皓
• Other Authors: Ming-Yang Cheng
• Format: Others
• Language: zh-TW
• Published: 2016
• Online Access: http://ndltd.ncl.edu.tw/handle/maq545

碩士 === 國立成功大學 === 電機工程學系 === 104 === In recent years, the development of intelligent automation has become an inevitable trend. As the robots become more and more popular in human daily life, human-robot interaction has become an important research topic for industry and academics. This thesis aims at developing compliance control methods on selective compliance assembly robot arm (SCARA), so that robot arms are able to adapt to external forces. In order to develop compliance control methods, the contact force information between the robot arm and the external environment needs to be obtained. Generally, the information of external forces can be obtained by using force sensors. However, the force sensors have some disadvantages such as high costs and additional requirements for extra configuration space. Therefore, this thesis employs sensorless methods for obtaining external forces in order to avoid potential problems caused by using force sensors. In this thesis, two control structures – power-assisted control structure and impedance control structure – are implemented on a SCARA to improve its robot compliance during human-robot interaction. A power-assisted controller can provide an assisting force to a motor system after obtaining the external force information. With the assisting force, users can save efforts and time while operating the motor system. On the other hand, this thesis uses a robot arm to simulate a mass-damper system, which can provide a compliant behavior to the robot arm. In addition, different modulation strategies for calculating power-assisted gains and impedance parameters are proposed and tested in this thesis.