| Summary: | 碩士 === 國立臺灣科技大學 === 高分子系 === 94 === Manipulator is usually given the mission to recognize the constraint in the environment by contact and to work on the constraint. Accordingly, manipulator is usually controlled by velocity/force control method. When the manipulator touchs and follows along the constraint, it begins to execute velocity/force hybrid control at the same time. End effector of manipulator moves on tangent direction of the constraint by velocity control, and moves on normal direction of the constraint by force control. Accordingly, determining the angle of the constraint is an important mission. But, measuring the angle of the constraint with contact force brings about huge constraint direction measure error because the vibration of the output signal of the force sensor. That will cause the effect of force control to be bad. Therefore, we develop a method, which can measure the angle of the constraint by IR range finder, and combine with the algorithm we have developed; the method can not only measure the angle of the constraint in advance, but also fix the directions of velocity control and force control to correct direction accurately.
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