臺灣博碩士論文加值系統

本篇論文主要是研究Denavit-Hartenberg座標變換方法及Quaternion座標變換方法，分別來計算機器人夾爪部份的端點座標以及在空間中的姿態關係，分析其兩種方法的優缺點，並將兩種方法套用在我們所研發的雙臂機器人上探討。

This thesis mainly studies Denavit-Hartenberg coordinate and varies the method and Quaternion coordinate and varies the method, come calculator device people insert claw extreme point coordinate and posture relation of space of component separately, analyze its two kinds of methods' pluses and minuses, and apply two kinds of methods mechanically to probe into the tow-armed robot that we research and develop.

目 錄
摘要................................................I
誌謝...............................................III
目錄...............................................IV
圖目錄..............................................VI
表目錄..............................................IX
第一章 緒論..........................................1
1.1研究動機.......................................1
1.2文獻回顧.......................................3
1.3研究範疇.......................................6
第二章 Denavit-Hartenberg座標變換法..................7
2.1 Denavit-Hartenberg座標變換法簡介...............7
2.2 Denavit-Hartenberg座標變換法定義...............10
第三章 Quaternion 座標變換法.........................13
3.1 Quaternion 座標變換法簡介......................13
3.2 Quaternion 座標變換法定義......................15
3.3五軸機器人Quaternion方法推導.....................20
第四章 雙臂機器人.....................................24
4.1雙臂機器人之發展.................................24
4.2 自行研發雙臂機器人簡介...........................27
4.3 雙臂機器人Denavit-Hartenberg座標系變換法推導......29
4.4 雙臂機器人Quaternion座標變變換法推導..............47
第五章 數值驗證........................................56
第六章 結論............................................61
參考文獻...............................................62
附錄A雙臂機器人尺寸圖....................................64
附錄B人型機器人D-H方法推導過程............................67
附錄C Blender 動畫展示...................................81

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