- 作者: 宋開泰; 李錫濱
- 作者服務機構: 交通大學控制工程系所; 工業技術研究院機械工業研究所
- 中文摘要: 一個模糊適應力控制器被設計出來,與機器人既有之運動控制系統整合運作。此系統在硬體方面包含有機器人本體及其控制箱、力/力矩感測器、及一個人電腦。在軟體方面,主要由電腦連線及基於模糊控制所設計之控制法則所組成。在控制架構上,本論文採用外迴路力量回授的方法,應用機器人既有之位置控制能力,加上模糊比例積分力控制器來達成順應性運動之功能。為了改善對環境變化之適應能力,我們在原有控制器之外加了一個估測器;其目的在估計接觸環境之剛性,以調整控制器之輸出。實驗是在ABB IRB2000工業機器人與個人電腦連線,整合力感測資訊下進行。模擬與實驗之結果顯示於此論文中。
- 英文摘要: A fuzzy adaptive force controller is designed and integrated with the existing motion control systemof a manipulator. This controller works in parallel with the robot controller by calculating the positioncorrections which allow contact force to be controlled in the desired manner. The fuzzy PI control schemeis used in the force controller design. This intelligent control system features adaptive feedforwardcompensation to cope with variations in the contact environment. Practical implementation is carried outby integrating a 6D force/torque sensor in an ABB IRB2000 industrial robot. The force controller is realizedon an 80486 based personal computer with signal interface to link the robot as well as the sensor. Severalsimulation and experimental results are presented in this article.
- 中文關鍵字: fuzzy logic control; force control; industrial robot
- 英文關鍵字: --