本研究主要目的在開發一個六分之一比例之平甩功機，並以同比例之人體模型為受試者進行試驗，使其做出標準平甩功動作。該動作可分為上肢及下肢，乃經由影像偵測設備紀錄實際的平甩功動作所得。為實現此動作軌跡，我們分別設計上下肢機構。上肢機構設計成單馬達帶動兩組四連桿曲柄搖桿機構，以達到搖擺運動的目的；下肢機構設計成彈簧加配重機構，以確保使用者安全同時減輕彈簧及馬達的負擔。在控制的方法上，以有限脈衝響應 (FIR) 濾波器為模型進行遞迴最小平方 (RLS) 適應性參數估測，並把估測所得之反系統模型作為前饋控制器配合比例-積分-微分 (PID) 回授控制器進行控制。該控制方式能有效解決建模誤差以及使用者不同等的系統不確定性。此外，對於干擾造成的影響也能控制在理想範圍內。實驗結果顯示，使用本論文建議之控制方法，可有效使本研究開發之平甩功機做出預計之平甩功動作。

The main purpose of this study is to develop a 1:6 ratio Ping-Shuai-Gong (PSG) machine, which can realize standard actions of PSG with a human mannequin in the corresponding scale. The overall PSG actions of an experimenter are recorded with image acquisition equipments first and then divided into upper and lower limb part actions. In order to achieve the overall actions, we design the upper and lower limb mechanisms separately. The upper limb mechanism consists of two sets of four-bar-linkage mechanism driven by a single motor for swing movement. The lower limb mechanism consists of springs and counterweight to not only guarantee users' safety but also reduce loading on the spring and driving motor. For the control method, recursive-least-squares (RLS) adaptive algorithm is used to estimate parameters of a finite-impulse-response (FIR) filter for system modeling. Besides, the inverse-system model from estimation is used as the feedforward controller, which is augmented with a PID feedback controller to complete the control task. This control method can effectively solve problems from modeling errors and other uncertainties such as different users. Furthermore, the impact of disturbance can be limited to a tolerable range. Experimental results show that this PSG machine can achieve expected PSG actions with the propose control method.

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