臺灣博碩士論文加值系統

裕度指標是用來量化多餘裕度機械臂運動學之裕度的新量測方法。根據裕度指標，我們不但可以求得多餘裕度機械臂的裕度，也可隨時得知機械臂每一軸角速度的界限。在求裕度指標的同時，我們也考慮了機械臂在運動學上的限制，如：各軸的角度、角速度及角加速度等的限制。而且，有關力矩方面的限制也都可以加以考慮。在多餘裕度機械臂的多目標應用方面，本論文對：窗型障礙物避除、各軸限制的避除、奇異點避除、免於漂移等，將有相關的描述說明。裕度指標不但很容易求得，而且可以應用於各種的多餘裕度機械臂。
本論文以三軸平面機械臂、四軸平面機械臂與七軸CESAR機械臂為三個例子來證明：應用裕度指標可以使機械臂更省時的完成工作。由模擬的結果可以看出，利用裕度指標來幫我們作路徑規劃可以使機械臂節省不少工作時間。在沒有應用裕度指標的情況下，三軸、四軸及七軸機械臂完成個別的工作需要11.2秒、10.6秒及20秒；可是，如果應用裕度指標的話，則只需6.96秒、7.56秒與12.26秒。由此可見，利用裕度指標來幫我們做路徑規劃的確能讓機械臂更有效率。

A novel measure, called Redundancy Indices, is proposed to quantify the amount of redundancy for kinematically redundant manipulators. With the Redundancy Indices, we can not only compute the total redundancy of a redundant manipulator but also monitor the rate range of each joint. Many kinematic constraints, such as joint-angle limits, joint-rate limits, and joint-acceleration bounds, are involved in the proposed measure. Furthermore, the dynamic effects, such as joint-torque bounds, can be included as well. Multiple-goal optimization for window-shaped obstacle avoidance, joint-limit avoidance, singularity avoidance, and drift free are also described and resolved. The Redundancy Indices is easy to compute and can be applied to all types of redundant manipulators.
Straight-line motion planning to reduce the execution time for a 3-DOF planar manipulator, a 4-DOF planar manipulator, and a 7-DOF CESAR manipulator are used as examples to exemplify the applications of the Redundancy Indices. Simulation results show that utilization of the Redundancy Indices in the motion planning can reduce the execution time significantly. Specifically, the execution time of the motion planning with/without Redundancy Indices are 6.96/11.2 seconds, 7.56/10.6 seconds, and 12.26/20.0 seconds for the 3-DOF planar manipulator, the 4-DOF planar manipulator, and the 7-DOF spatial manipulator, respectively.

CONTENTS
page
ABSTRACT............................................................................................... i
LIST OF FIGURE....................................................................................... iv
LIST OF TABLES....................................................................................... v
1 Introduction............................................................................................ 1
1.1 Introduction...................................................................................... 1
1.2 Organization..................................................................................... 3
2 General Formulation................................................................................ 5
2.1 General Formulation......................................................................... 5
2.2 General Form of Objective Functions............................................... 8
3 Various Goals for Resolving Kinematic Redundancy.............................. 10
3.1 Window-Shaped Obstacle Avoidance............................................... 10
3.2 Joint-Limit Avoidance...................................................................... 17
3.3 Singularity Avoidance...................................................................... 18
3.4 Drift Free.......................................................................................... 21
3.5 Discussion........................................................................................ 21
4 Redundancy Indices................................................................................ 23
4.1 Definition of Redundancy Indices..................................................... 23
5 Applications of Redundancy Indices........................................................ 28
5.1 Conventional Straight-Line Motion Planning.................................... 28
5.2 Straight-Line Motion Planning with Redundancy Indices................. 30
6 Simulation Results.................................................................................... 36
6.1 3-DOF Planar Manipulator................................................................ 36
6.2 4-DOF Planar Manipulator................................................................ 42
6.3 7-DOF CESAR Manipulator.............................................................. 46
7 Summary and Conclusions....................................................................... 54
APPENDIX.................................................................................................... 56
Redundancy Indices for Considering Joint Torque Constraints................. 56
BIBLIOGRAPHY........................................................................................... 60

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