- 作者: 劉昭恕; 陳建祥; 王右文
- 作者服務機構: 清華大學動力機械工程研究所
- 中文摘要: 本文提出一種機械臂的模糊模式平滑控制的方法。寓於此方法的動機乃在於建構一模糊模式來描述傳統可變結構控制的強健性行為以達到機械臂快速且準確的循跡控制目的。相較於在滑動模式控制(sliding mode control)方法中,以線性近似方式來減少抖震(chatter )的所謂邊界層 (boundary layer)方法,此法可謂之為一非線性連續近似的方法。這個方法除可承續滑動模式控制的強健特性外,且能同時減少抖震現象的發生。實驗乃以一五軸機械臂來驗證。結果顯示在減少抖震現象的發生與強健特性的保持,兩者都可同時達到;此方法的優點在與邊界層的控制方法比較下,很明顯的突顯出來。
- 英文摘要: A normalized smoothing control scheme based on fuzzy modeling of a robot manipulator is proposed.The motivation behind this scheme is to construct a fuzzy model to describe the robust behavior of aconventional variable structure scheme to achieve rapid and accurate tracking control of robot manipulators.This scheme can achieve nonlinear continuous approximation as compared to the so-called boundary layerapproach, which is a linear approximation to alleviate chatter for the sliding-mode control scheme. Theproposed scheme can alleviate chatter without sacrificing the inherent robustness of the sliding-modescheme. For validation, experiments were performed on a five-axis robot manipulator. The results showthat both alleviation of chatter and robust performance are achieved; the advantages of the scheme areindicated in a comparison with a boundary-layer scheme.
- 中文關鍵字: variable structure system; fuzzy model-based control; robot manipulator
- 英文關鍵字: --