Dynamic Analysis and Control of Hydraulic Machine System and Industrial Robotic Manipulator

• Main Authors: Cao-Sang Tran, 陳高創
• Other Authors: Yunn-Lin Hwang
• Format: Others
• Language: en_US
• Published: 2016
• Online Access: http://ndltd.ncl.edu.tw/handle/z33bw9

碩士 === 國立虎尾科技大學 === 動力機械工程系機械與機電工程碩士班 === 104 === Within the field of the multi robotic manipulator control, there is a large focus in research involving field. In this thesis two parts are going to be studied: dynamic control on hydraulic machine system and kinematic control on industrial robotic manipulators. The main objective of this research was to analyze dynamic, forward kinematic and inverse kinematic on a couple of mechanical systems and hydraulic mechanical systems in order to control these machine. Combining with simulation on numerical tools that will also be established in this thesis. The control designed system consists of simulation on numerical tools and experimental results. That is going to help in investigating control analysis and development. The first topic establishes the simulation model between AMESim software and RecurDyn software to track a specific path. The dynamic analysis and control states of dynamic system and hydraulic control system are analyzed by both the CAE softwares - AMESim and RecurDyn. The simulators of these systems are applied to a real virtual model in order to investigate the operations of hydraulic machine tools. The research achievements developed in this investigation can also be used in other multi-body dynamic systems. The second topic, industrial robotic dynamics, forward kinematics and inverse kinematics are archived based on control theories. These are applied for R-R-R and R-R-R-R-R-R manipulators built by DYNAMIXEL servo motors and that is going to be compared with performances from RecurDyn software. With respect to codes that will be written on supported software for AVR microcontroller such as controller for R-R-R-R-R-R robotic arm, DSPIC microcontroller is used for R-R-R manipulator and the programming language is deployed in this study. These experimental results are corresponding to goals by following the inverse kinematic equations evaluated by analyzing based on control methods. These take innovations and achieve control improvement in different systems with optimization controller or trajectory planning.