การควบคุมแรงแบบฝังตัว สำหรับแขนกลลูกผสมแบบขนาน 5 แกนตระกูลเอช-4
This work presents analysis and design of an unique hybrid 5 degree-of-freedom robotic manipulator based on an H-4 Family of Parallel Mechanisms with three degree-of-freedom in translational movements and one degree-of-freedom in rotational movement (orientation angle) at the tool tip of the arm tog...
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| Format: | Theses and Dissertations |
| Language: | Thai |
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จุฬาลงกรณ์มหาวิทยาลัย
2007
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| Online Access: | https://digiverse.chula.ac.th/Info/item/dc:44594 |
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| Institution: | Chulalongkorn University |
| Language: | Thai |
| Summary: | This work presents analysis and design of an unique hybrid 5 degree-of-freedom robotic manipulator based on an H-4 Family of Parallel Mechanisms with three degree-of-freedom in translational movements and one degree-of-freedom in rotational movement (orientation angle) at the tool tip of the arm together with another degree-of-freedom coming from a single axis rotating table. This manipulator can be used in a rapid prototype application for cutting soft materials. Forward or direct kinematics, inverse kinematics, Jacobian and workspace of the purposed configuration are derived in detail as well as equations of motion of the manipulator arm. The equations of motion or the dynamic model are derived from Lagrangian formulation and are shown to be suitable in real-time feedback controls. The accuracy of the kinematics, forward and inverse, Jacobian, and the dynamic model derived in this work are assured by comparing the results obtained from using MATLAB developed in this work with the result from the ADAMS solver with the manipulator arm 3D solid model data. The comparisons between the two numerical results are very promising. The derived equations are used in real-time controls using Inverse Dynamics Control for position control and Impedance Control for indirect force control strategy. Friction models obtained from the experiment are also used to compensate the actual friction of the control system. From the experimental results of the real-time control, the motion tracking and impedance force control performance are satisfaction. Tracking errors can be reduced within 0.35 millimeter by using friction compensated model. The derived dynamic model is also suitable for others advanced control technique. The accuracy of the control can be improved by increasing the rigidity of the structure. |
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