The System Integration and the Control Design of the Robotic Arm for Explosive Processing
| Autor: | CHEN, TING-YU, 陳定宇 |
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| Rok vydání: | 2019 |
| Druh dokumentu: | 學位論文 ; thesis |
| Popis: | 107 The main purpose of this research is to establish a robotic arm system for stable gripping the explosives. Especially, in nascent research stage, it is necessary to establish a precise mathematical model of the robotic arm to facilitate the subsequent design of the stably gripping controller. Hence, it can improve the noise suppression ability of the robotic arm and reduce the excessive disturbances when gripping and transporting the explosives that will cause the additional damage. In addition, in the study, we applied the Euler-Lagrange dynamic equation, the D'Alembert's Principle, the concept of generalized coordinates, and the Newton's second law to obtain the basic robotic arm dynamic equation. Besides, about the design of the robotic arm, after considering the dynamic model of the DC motor, we also built up the coupling mode between the robotic arm line and the motor torque to facilitate the system integration. The next step, we combined the both dynamic models of the robotic arm and the DC motor to form the new explosion-proof robotic arm system and completed the stably gripping controller design. Finally, we applied the tools of the Matlab/Simulink and C language to complete the software and hardware verification of the controller design and the system integration. The verification result was perfect. This research can be used as a great reference for subsequent researchers. |
| Databáze: | Networked Digital Library of Theses & Dissertations |
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