Robot Reflex and Posture Control for Expected and Unexpected Impacts during Compliance Task Exection

• Main Authors: Wu, Huey Shyang, 吳惠祥
• Other Authors: Young Kuu Young
• Format: Others
• Language: zh-TW
• Published: 1998
• Online Access: http://ndltd.ncl.edu.tw/handle/54460883804967977301

碩士 === 國立交通大學 === 電機與控制工程學系 === 86 === In this thesis, we propose a robot impact control scheme to tackle expected and unexpected impacts during compliance task execution. In the proposed scheme, a posture selector is used to provide proper postures for tackling expected impacts and the reflex mechanism to provide pre-programmed motion commands for dealing with unexpected impacts. We also prove that postures derived statically may not work well in controlled dynamic systems via experiments. Moreover, because time delay in force data transmission results in oscillating and unstable phenomena in executing constrained-motion, a force predictor is used to overcome this undesired situation. System parameters have been identified to make system formulation more realistic. Simulations are performed to verify the effectiveness of the proposed scheme.