本研究的主要目的是在發展智慧型控制策略，以控制六自由度的機械手臂。因為機械手臂為高度複雜與非線性的系統，其數學模式不容易被建立或估測出來。因此，以模式為基礎之傳統控制器，很難設計出來，以控制此系統並且評估其控制性能。本研究提出三種智慧型控制策略 ： (1) 模糊控制器， (2) 自組織模糊控制器， (3) 灰預測模糊控制器。分別應用於控制機械手臂系統以評估其控制性能。實驗結果證實；對於機械手臂的運動控制，在軌跡追蹤與定位控制上，灰預測模糊控制器及自組織模糊控制器遠比模糊控制器有較佳的控制性能。

The purpose of this study is to develop intelligent control strategies for controlling a six degree-of-freedom (DOF) robotic system.Since the robotic manipulator is a high complicated and nonlinear system,its mathematical model is difficult to be established or estimated.Therefore, the model base traditional controller is hard to design for controlling one and evaluates its control performance.This work proposed three intelligent control strategies: (1) fuzzy controller, (2) self-organizing fuzzy controller,and (3) grey-prediction fuzzy controller,which employ individually to control this robotic system for evaluating the control performance of the system. Experimental results verified that both the grey prediction fuzzy controller and the self-organizing fuzzy controller have better control performance in trajectory tracking and position control than fuzzy controller for robot motion control.

緒論…………………………………………………………1
研究動機與目的……………………………………………1
文獻回顧……………………………………………………1
本文架構……………………………………………………3
第二章 機械手臂之理論分析………………………………4
六軸機器人之硬體架構……………………………………4
機械手臂之運動學分析……………………………………5
機械手臂的反運動學分析…………………………………11
第三章控制器的設計………………………………………18
模糊控制理論………………………………………………18
自組織模糊控制器…………………………………………24
修正型自組織模糊控制器之控制策略……………………28
灰色理論演算法……………………………………………29
灰色數列的生成……………………………………………30
灰色模型的建立……………………………………………31
第四章 圓形軌跡追蹤控制之實驗結果與分析……………35
軌跡規劃……………………………………………………35
六軸機械手臂的運動控制…………………………………36
關節座標軌跡規劃之運動控制……………………………37
空間座標軌跡規劃之點到點的運動控制…………………39
空間座標軌跡規劃之圓形路徑控制………………………42
第五章 方形軌跡追蹤控制之實驗結果與分析……………127
空間座標軌跡規劃之方形路徑控制………………………127
第六章 結論…………………………………………………160
本文重要結論………………………………………………160
未來研究方向………………………………………………162
參考文獻……………………………………………………163
著作發表……………………………………………………167
作者簡介……………………………………………………168

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