Intuitive Teaching and Peg in hold Application of Robotic Arm

• Main Authors: LIU,SHAN-PIN, 劉善斌
• Other Authors: CHEN,CHIN-SHENG
• Format: Others
• Language: zh-TW
• Published: 2019
• Online Access: http://ndltd.ncl.edu.tw/handle/h539t6

碩士 === 國立臺北科技大學 === 自動化科技研究所 === 107 === This study can be divided into two parts: (1). Motion and trajectory recording by the intuitive teaching and smooth cubic spline curve connecting for 7-DOF robotic manipulator, (2). Peg in hole application using the force impedance control. In the motion and trajectory recording, the teaching zones, including the starting zone and ending zone, and safety zone are well defined for different applications. Then, the backtracking method is used to teach the corresponding tasks in the ending zone to guarantee the accurate positioning of target point. In addition, a cubic spline curve is applied to connect two discrete points which are the boundary of teaching zone. The proposed strategy make the intuitive teaching more efficient in the teaching process and more accurate in the target position. The modified Fitts' Law is further applied to check the performance of proposed motion and trajectory recording. For the peg in hole application, the peg and hole may suffer from a three-point contact condition when the position and orientation is misalignment. This thesis proposes an alignment method by calculation the relationship of inserting angle and force and torque in order to let peg pass through from the three-point contact to successful insertion into the hole. Here, the force and torque in each axis are measure by six-axis force-torque sensor. Finally, the peg in hole application with different misalignment angles are tested the assembly ability of proposed method.