Vibration Control and Contact Force Control on Two-Link Serial Robots
碩士 === 國立雲林科技大學 === 機械工程系 === 102 === This research investigates the vibration problem of a manipulator due to the interaction among the separate links in rapid positioning, and the force control problem when the end-effector is in contact with the environment. Analyses and experimentation are condu...
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| Format: | Others |
| Language: | zh-TW |
| Published: |
2014
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| Online Access: | http://ndltd.ncl.edu.tw/handle/c9an99 |
| Summary: | 碩士 === 國立雲林科技大學 === 機械工程系 === 102 === This research investigates the vibration problem of a manipulator due to the interaction among the separate links in rapid positioning, and the force control problem when the end-effector is in contact with the environment. Analyses and experimentation are conducted on a 2-axis manipulator. This paper proposes a remote feedback control method, which is to control the position of the first link by measurement of the angle of the second axis as well as the angle of the first axis, in an attempt to suppress the vibration of the second link. In addition, the magnitude of the contact force between the second link and the environment could also be adjusted by the position of the first link.
Lagrange’s equations are employed to establish the mathematical model of the 2-axis manipulator for the purpose of analysis and numerical simulation. Experiments show that the settling time in positioning is reduced by more than 80% with the remote feedback. The relationship between the controller gains and the contact force is extensively examined in the experiments
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