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研究生： 鄺玟豪
Khong, Mun-Hooi
論文名稱： 經由時間延遲通訊網路之單控制器雙向遠端遙控系統
Bilateral Teleoperation Systems with Single Controller over Delayed Communication Network
指導教授： 劉彥辰
Liu, Yen-Chen
學位類別： 碩士
Master
系所名稱： 工學院 - 機械工程學系
Department of Mechanical Engineering
論文出版年： 2015
畢業學年度： 103
語文別： 中文
論文頁數： 164
中文關鍵詞： 雙向遠端遙控系統 、Lyapunov函數 、中央控制器 、時間延遲 、三軸力感測器
外文關鍵詞： Bilateral teleoperation, Lyapunov, single controller, time delays, three-axis force sensor
相關次數： 點閱：157  下載：10 
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    • 本論文提出使用單一控制器之新型態雙向遠端遙控系統，遠端機器人與近端機器人之控制器皆在近端操控人員處實現。基於此架構，遠端機器人僅需將位置與速度等輸出指令，經由網路傳輸給在近端機器人之中央控制器；中央控制器計算完控制指令後，再經由網路回傳給遠端機器人。因為遠端機器人處不存在控制器，且只需要傳輸與接收訊號的功能，所以可以顯著的提升整體遠端遙控系統模組化與彈性，擴大應用範圍。
    本論文之中央控制器由P-與PD-控制器實現，P-控制器討論遠端機器人僅回傳位置訊號，而PD-控制器需要同時回傳位置與速度訊號。對於此單一控制器雙向遠端遙控系統之不對稱系統架構，通訊存在包含時間延遲等不確定因素，將造成整體系統追蹤性能甚至穩定性的問題。本論文使用Lyapunov之穩定性分析方法，討論在固定時間延遲(time constant delay)下能量消散時的充分條件，並確保系統之穩定性與任務追蹤。由於延遲可能會隨著網路狀態而改變，所以本論文亦討論P-控制器在網路存在時變時間延遲(time-varying delay)時，相關的穩定性之條件。此外，本論文亦推導出系統在穩態時之力矩回饋，並確認此雙向遠端遙控系統力量回饋之性能。
    本論文首先使用系統模擬分析驗證提出之控制理論，最後以實驗的方法驗證控制器之穩定性，並比較P-控制器與PD-控制器之性能。由於力量回饋為討論雙向遠端遙控性能之重點，所以本論文配合所使用之機器人手臂，設計、分析與製造了三軸力量感測器；經過線性回歸取得此三軸力量感測器估計方程，完成校正後之感測器使用於本論文提出之單一控制器遠端遙控系統，進行力量資訊的量測、紀錄與比較。實驗結果驗證了在提出之充分條件下，除了確保穩定性與任務追蹤之性能，經由對操作人員施力與環境外力之量測結果，更證實了理論分析中環境力量可以準確回饋的結果。

    SUMMARY
    This thesis proposes a novel bilateral teleoperation system by using only one controller that is collocated with the local robot. Without a controller, the position/velocity signals of the remote robot are transmitted to the central controller over a communication network. In this thesis, the central controller is accomplished by using P- and PD-controllers. By utilizing Lyapunov stability analysis, the sufficient condition for ensuring energy dissipation is obtained so that stability and position tracking are guaranteed when the communication network is subject to constant delays. Since it is possible that time delays change with network status, the stability condition for P-controller with time-varying delays is also studied in this thesis. Moreover, force reflection from the remote environment to the human operator via the local robot is proven to be equal to the environmental force when the teleoperation system is in steady state. The proposed control systems for bilateral teleoperators with single control are validated via numerical simulations and experiments. In order to obtain external forces from the human operator and environment, a simple and low-cost force sensor for PHANToM Omni haptic device is developed in this thesis. After calibration by using simple linear regression, the three-axis force sensor is utilities to record the force information in the experiment.

    圖目錄 1 表目錄 5 第一張 緒論 6 1.1 研究背景與文獻回顧 6 1.2 研究動機與目的 10 1.3 論文架構 11 第二章 理論背景與系統介紹 13 2.1 Lyapunov理論 13 2.1.1 非自主系統穩定性 13 2.1.2 Lyapunov函數與基本定理[1] 15 2.1.3 Baralat's Lemma[2] 16 2.2 被動性原理[1] 17 2.3 機械手臂系統 18 2.3.1 Euler-Lagrange函數 18 2.3.2 機械手臂之動態方程式 19 2.3.3 動力方程特性 20 2.3.4 運動Jacobian（Kinematic Jacobian） 21 2.3.5 二連桿機械手臂動力方程 22 2.4 雙向遠端遙控系統 23 2.4.1 散射波轉換（Scattering Transformation）23 2.4.2 P-控制器與PD-控制器 27 2.4.3 適應性控制 30 第三章 P-與PD-控制器設計與系統分析 32 3.1 P-控制器設計與系統分析 32 3.1.1 P-控制器設計 33 3.1.2 固定時間延遲（Constant Delays） 36 3.1.3 時變時間延遲（Time-Varying Delays）47 3.2 PD-控制器設計與系統分析 57 3.2.1 PD-控制器設計 57 3.2.2 固定時間延遲（Constant Delays）58 3.3 結論與討論 68 第四章 三軸力感測器設計與系統整合 71 4.1 機構設計 71 4.2 系統整合 75 4.2.1 觸力感測器 76 4.2.2 放大與類比轉數位模組 78 4.2.3 微除利息控制器（Arduino）79 4.2 校正方法與結果 80 4.3.1 簡單線性回歸（Simple Linear Regression）80 第五章 實驗架設與結果 85 5.1 PHANToM Omni 六軸機器人 85 5.2 力量感測器 88 5.2.1 旋轉矩陣（Rotation Matrix）88 5.2.2 端點量測轉換 90 5.3 實驗架構 91 5.4 P-控制器實驗結果 95 5.4.1 固定時間延遲 95 5.4.2 時變時間延遲 98 5.5 PD-控制器實驗結果 102 5.5.1 固定時間延遲 102 5.5.2 時變時間延遲 105 5.6 實驗結果與討論 109 第六章 結果與未來展望 111 6.1 結論 111 6.2 未來展望 112 參考文獻 113 附錄 116 A. P-控制器的條件式子推導 117 B. PD-控制器的條件式子推導 122 C. 三軸力感測器設計圖 124 D. 力量感測器程式 131 E. 實驗程式 140 F. 符號表 163

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