| Summary: | 碩士 === 國立臺灣大學 === 電機工程研究所 === 84 === In this thesis, we propose a nonlinear adaptive controller of a
flexible manipulator for automated deburring. The goal of the
automated deburring is to cut out the burrs at a desired constant
chamfer depth along the part's edge. Due to the nature of the
deburring process, this goal can be achieved by maintaining a
constant force on the grinding tool in the direction normal to
the constraint surface while following the positional trajectory
in the direction tangential to the surface. The dynamics of both
the deburring process and the flexible manipulator will be
investigated in detail, and the latter will be derived using
Lagragian method with assume-mode approach. To facilitate the
controller design, a singular perturbation technique is then
utilized to separate the system into a slow subsystem and a fast
subsystem, whereby an adaptive hybrid position/force controller
is derived for the slow subsystem whereas a dynamic feedback
controller is developed for the fast subsystem. It is shown that
the motional tracking error and the force regulation error will
both converge to a small residual set. Finally, the computer
simulations and experiments of a two-link flexible manipulator
confirm the effectiveness of the proposed nonlinear adaptive
controller.
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