| Summary: | 碩士 === 國立交通大學 === 電控工程研究所 === 104 === Nowadays, most industrial robots used by domestic automation industries are equipped with controllers that are imported from abroad. In order to enhance the competitiveness of domestic robot industry, Taiwan government is promoting researches aiming at upgrading self-owned motion control technologies. Thus, this thesis addresses the motion control problems of the RA605 6-axis robot manipulator produced by HIWIN Technologies Corp. with the PC-based controller developed in this thesis to achieve high-precision trajectory tracking.
Before we design the control algorithm, we build the kinematic and dynamic models for the robot manipulator. The dynamic model is established by using Lagrangian and Newton-Euler equations separately and their results are compared for cross validation. Furthermore, the dynamics of the joint motors are incorporated into the robot dynamic model to obtain the relation between motor torques and joint angles. To identify the parameters of the robot dynamic model, this thesis presents a method with security, accuracy, and computational efficiency by estimating the parameters joint by joint.
For the aspect of robot control, this thesis proposes a method combing computed torque control, digital disturbance observer and iterative learning control (ILC). The ILC consists of two structures, which are torque-based ILC and reference-based ILC. Experimental results show that the root mean square tracking error of each joint for trajectories up to 5 Hz is less than 1467 encoder count value (i.e. 0.0497 degrees).
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