| Summary: | 碩士 === 國立臺灣科技大學 === 機械工程系 === 100 === In this research, an embedded intelligent control gripper is designed and integrated with an ALTERA Nios II embedded control robotic arm. The end-effector position control and force control are designed separately with a signal to communicate for function switching consequently. Firstly, the position control mode is used to move the end-effector of manipulator to arrive the specified Cartesian coordinate, then it is switched into the gripper force control mode. ALTERA Nios II embedded development kit is employed to develop the Mistubishi RV-M2 hardware control architecture. The motor optical encoder decoding, limit switch detecting, pulse width modulation (PWM) generating and 1 bit communication signal with gripper were designed in Nios II hard circuit with HDL(hardware-design-language). Point to point motion control, inverse dynamics of robot arm, continuous motion trajectory control, sequential control and fuzzy sliding mode control soft programs are designed in Nios II interface. Arduino Nano 3.0 development board is chosen as the intelligent gripper control kernel for monitoring the gripper contacted force and position gap based on gripper FSR force sensor and a DC motor encoder feedback signals. The fuzzy sliding mode control is employed to design force and position controllers, respectively. The object stiffness can be constructed based on gripper position and contact force measuring information and an intelligent judge strategy. Then, the object can be handled with appropriate force without damage for pick-and-place operation. In addition, the object slip phenomenon is detected based on the force response of FSR and the contacted force command is regulated on-line to avoid the object falling.
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