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題名: 以符號運算法應用於撞擊適應控制之建模研究
作者: 陳柏嘉
貢獻者: 精密機械與製造科技研究所
關鍵詞: 符號運算法
撞擊
適應控制
多連體運動
參數預估
日期: 2011-01
上傳時間: 2011-05-23T07:36:15Z
摘要: 本論文在探討以符號運算法(SYMBOLIC METHOD)應用於機械臂撞擊運動適應控制研究。所謂符號運算法系利用電腦計算能力執行符號之數學運算；據之所發展的軟體具更處理多連體運動(MULTIBODY DYNAMICS)之功能。因三軸
機械手臂可視為一多連體結構，發生撞擊時，其現象複雜且不易建立數學模型，而使用符號運算法，可完成運動方程式建構，進而執行模擬，而適應控制則提供當撞擊產生，機械臂的參數(質心、慣性矩等等)發生變化時之參數預估法則，對於複雜之撞擊現象能進行探討及研究。
In this thesis, a study of the symbolic method applied to the impact of the 3-D link arm by adaptive control is presented. A so called symbolic method which is a software installed in the computer can execute a symbolic mathematic operation. It is advantageous to use a symbolic method to deal with the multi-body dynamics problem. A 3-D link arm can be considered as a multi-body structure with 3-links connected with three joints. Due to the complexity of the impact phenomenon of the arms, it is difficult to construct a mathematic model from a tradition method. However, it can be resolved by employing the symbolic method. The role of an adaptive control plays is to provide a gain-updating law to estimate the arm structure parameter (mass center, the moment of inertial etc.) which will vary during the impact. By employing the proposed method, the impact phenomenon can be further investigated and studied.
描述: 指導教授：楊伯華
顯示於類別:[機械工程系(含精密機械與製造科技碩士班)] 學位論文

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