| Summary: | 碩士 === 元智大學 === 機械工程學系 === 101 === Mechanical arm organization has already have the design of differential mechanism in Industrially, but all of its control method is not decoupled control, because this design neglect gravity and centrifugal force, it influence the vibrations of the organization under the high-speed sports of the motor which caused the error, so in this thesis, it will not only calculate the equation of the mathematical model but also design the controller to control this phenomenon
This phenomenon shows obviously influence on the mechanical arm, due to the mechanical arm combines every axle in series. it will cause obviously centrifugal force for the far axle and cause error under neglect.
The theme of the thesis is the Degrees of Freedom Coupled Mechanical Control. Under the control methods of dual axle organizations, it output-together with two motors ,then construct the mathematical measurement formula with gyroscopic effect. Then use Lagrange to ask the movement equation of mathematics out, By the Maplesoft / Maple verify and use State-Space rule designing the controller. Besides imitating by setting up the differential mechanism with the Mathworks software Matlab、Simulink, then operate on-line by Dspace, in order to verify the result of the simulation and experiment by fast-developing the controller of degrees of freedom coupled mechanical control.
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