機械手臂為現今工業4.0中的熱門議題。而協作機器人則是未來趨勢，不僅能解決人口老化所導致的勞動力不足，更是能幫助人類進行一些危險的工作。但機械手臂控制器設計相當複雜，現今為了因應眾多客戶需求，機械手臂需要適應各種不同環境下的服務，也需要有各種其他材質製作。在量測機械手臂物理參數及安裝手臂零組件時，也都會導致參數的不確定性，進而讓設計控制器的困難提高。所以本論文將探討如何設計自適應運動控制的機械手臂，來解決參數的不確定性問題。
在目前市面上，UR機械手臂可以說是目前人機協作的機械手臂代表。現在也非常廣泛的被應用，像是無人便利商店，無人飯店…等等，都可以看到UR機械手臂。本論文以UR5機械手臂為實際例子，了解機械手臂各種參數對於設計控制的影響，推導出機械手臂的運動學方程式及動力學方程式，進而掌握機械手臂大致狀態，來設計自適應運動控制，並根據Matlab SimScape構建了相對應的物理模型。基於此模型，本論文提出了一種自適應運動控制結合基於圖像的視覺伺服機制。
本論文針對UR5在參數變化較大的情況下進行模擬，來證明自適應運動控制結合視覺伺服控制方法的性能。模擬結果似乎是可以接受的，並有望在將來能夠為實際應用提供理論的依據。

Manipulators play important roles in industry 4.0 today. Specifically, the emergence of collaborative robots symbolizes a new mileage in automation. They can not only resolve the labor shortage problem caused by the aging issue, but also assist humans to carry out some tedious and dangerous tasks. However, the design of the manipulator controller is quite complicated. In order to meet the needs in various applications, the manipulator has to adapt itself to various working environments and the manipulation of objects made of various materials. When measuring the physical parameters of the manipulator and installing the manipulator components, the uncertainties and variation of system parameters usually make the design of the controller more difficult. In order to deal with the parameter uncertainty, one of main purposes of this thesis will focus on the design of adaptive motion control for a manipulator.
In current market, the universal robots, made by Universal Robot Inc., are regarded as the representative of the collaborative robots. They have been used in a variety of applications, such as unmanned convenience stores, unmanned hotels, traditional industrial automation, etc., and their good performances are wildly recognized nowadays. This thesis uses the UR5 manipulator as a practical example for the design of adaptive motion control. Both kinematics and dynamics of UR5 manipulator are investigated and the corresponding physical model in terms of SimScape toolbox is constructed. Based on this model an adaptive motion controller together with an image-based visual servoing (IBVS) mechanism is derived in this thesis.
An extensive simulation for UR5 in cases of a wide variation of parameters has been carried out in this thesis to demonstrate the performance of the adaptive motion control with visual servoing control scheme. The simulation results seem to be quite acceptable and, hopefully, provide a theoretical basis for practical application in the future.

第一章 緒論 1
第二章 UR5運動學 9
第三章 UR5動力學 31
第四章 UR5機械手臂控制系統設計 41
第五章 機械手臂之影像伺服控制設計 57
第六章 模擬與測試 89
第七章 結論與未來展望 135

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