機器人的構成

構成基本元件
• 機械連桿 ------- 骨骼、關節
• 致動器、傳動機構 ------ 肌肉、肌腱、韌帶
• 感測器 ------- 皮膚、感官
• 控制器 ------- 腦
• 動力源 ------- 食物、 熱量
 Anatomy of Robot Manipulators

m
m Fig. 1: A single-axis robot

Let r>1 be a gear reduction ration (If d1 and d2 are diameters of the two
gears, the gear reduction ration is r=d2/d1). The torque and angular
velocity are changed to:
(1)

where τload and ωload are the torque and angular velocity at the joint axis,
and τm and ωm are the torque and angular velocity at the motor shaft.
(2)

(3)
DC Motor Dynamics

Fig. 2: Schematics of a DC motor

(4)
The electric power, given by Ei, should be equal to mechanical power

(5)

4 5

(6)

Fig. 3: Electric circuit of a DC motor

3

(7)

4 6 7

(8)

(9)
 (10)

m
where is the motor constant. Note: K m 
Pout

Fig. 4: Torque-Speed and Power-Speed Characteristics of a DC motor

Dynamics of a Single-Axis Robot

(11)

(12)

d (13)

 d : The disturbance torque acting on the robot link

Consider load  0. We can maximize  load by choosing a proper r .

By (13) k  r  Kt / R 
max load  max   umax  max 
 
 Il  r Im 
2
r r
I r

Il
ropt 
Im
Control of a Single-Axis Robot
System dynamics in transfer function form:

k 1
 ( s)  u ( s )   d ( s)
Is  Bs
2
Is  Bs
2

where  is the angle of the robot link and   load .

u   K p ( r   ) u   K p ( r   )  K v

Single-axis robot under P control Single-axis robot under PD control

 Plant
d

r   u   
Kp 1 1
k 
  Is  B s

Kv

Fig. 5: Block Diagram of a Single-axis Robot under PD control

If  d  0  ( s) kK p n2
 
 r ( s ) Is 2  ( B  kK v ) s  kK p s 2  2n s  n2

kK p B  kK v
where n  ,  .
I 2 kK p

One can choose n ,  or K p , K v based on specifications on rise time, settling

time, maximum overshoot and so on.
Disturbance Rejection:
 ( s ) 1
 2
 d ( s ) Is  ( B  kK v ) s  kK p

 d  FL, Δx  LΔ
F
When  d  FL is constant, at steady state (by
x final value theorem)
 1 x / L
 
 d kK p FL
L
or
kK p
F x
L2
kK p
where L2 is the static stiffness.