The Development of Motion Control Technology for an Intelligent Underwater Robotic Manipulator System-1

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基本資料

Project title

Code/計畫編號

NSC89-2611-E019-019

Translated Name/計畫中文名

智慧型水下機械臂系統技術研發與實作---子計畫IV：智慧型水下機械臂系統運動控制技術研發-1

Project Coordinator/計畫主持人

Chyun-Chau Fuh

Funding Organization/主管機關

National Science and Technology Council

Co-Investigator(s)/共同執行人

林鎮洲

Department/Unit

Department of Mechanical and Mechatronic Engineering

Website

https://www.grb.gov.tw/search/planDetail?id=501312

Year

2000

Start date/計畫起

01-08-1999

Expected Completion/計畫迄

01-07-2000

Co-Investigator(s)

Chen-Chou Lin

Bugetid/研究經費

784千元

ResearchField/研究領域

機械工程

本研究之目標是設計與製作四軸水下機械臂並研發機械臂運動控制所需之相關技術。研究主題有二，一是關於水下機械臂之本體機構設計、傳動系統設計，硬體製作，運動分析與軌跡規劃；二是關於運動控制系統之軟硬體技術研發、與其他子系統之資訊溝通技術發展。本水下機械臂為防水馬達驅動，其中二軸以鍊條達成傳動方式之四自由度水下機械臂系統。機械臂之控制模式採滑態控制模式。採用以上的設計方法與控制模式，配合其他感測、辨識、工作規劃等子系統之成果，製作完成的水下機械臂系統具有監督式控制的優點，對於水下機械臂之精確性與穩定度有相當之提昇。The objectives of this research include mechanism design, prototyping, motion planning and control of a four-jointed underwater robotic manipulator system. There are two main topics, one is the mechanism design of the manipulator, transmission system design, prototyping, motion analysis, and motion planning; the other is the technology development of motion control system, and aspects of information exchange with other modules. The underwater manipulator is a four-jointed, chain-driven system, and actuated by water-proof electric motors. We use sliding-mode control algorithm to control the position of the manipulator. The finished prototype is suitable for supervisory control; in addition, its precision and stability are greatly enhanced.

Keyword(s)

水下機械臂
帶傳動
水下技術
監督式控制
Underwater manipulator
Tendon driven
Underwater technology
Supervisory control

DSpace CRIS

The Development of Motion Control Technology for an Intelligent Underwater Robotic Manipulator System-1

基本資料

Description