| Summary: | 碩士 === 國立臺灣大學 === 機械工程學研究所 === 87 === The Cluster Tool Robot Arm is the mainframe of research in this thesis. First this thesis constructs the exact dynamic model of the robot arm for application of various control algorithms. And then by taking the friction as the major consideration, this thesis trys to develop a trajectory (or path) plan which has a much better performance (which means “faster movement, shorter time, and still stable”) than the actual path plan using by present cluster tool robot arm. According to the designed path plan in this thesis, actually the performance is proved better (the arm actually moves faster with stability) than the present actual one under the identical constraints. This thesis also desings the PD position controller and feedback linearization controller by adopting the conventional control algorithms used in robot arm control. With both these controllers, dynamic model of the robot arm, and the desinged path, simulations are proceeded. Finally by adjusting the gains of the controllers, the positoin control and trajectory tracking is achieved.
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