臺灣博碩士論文加值系統

本篇研究論文主要為開發一機器手臂系統，使用於餐廳服務型機器人上，配合了視覺系統，可將視覺系統所擷取之座標進行運動方程式之控制及軌跡之生成，使機器手臂到達所需之位置，並進行夾取餐盤或抬桌子之動作，並可透過語音系統進行機器手臂之控制。本篇研究之運動方程式係利用PC上之LabView進行演算，包括了正向運動學、逆向運動學、軌跡生成。在解運動學之前，必須先建立D-H參數表，再利用正向運動學，可將各軸之馬達角度推算出機器手臂末端之座標，而逆向運動學可將機器手臂末端之座標推導成各軸馬達所需要轉動之角度，結合正向及逆向運動學便可達到機器手臂能穩定達到所需位置之效果，再利用軌跡生成方程式將起始點與終點之間進行插值，方能產生完整之路徑規劃，而在軌跡生成當中，將所要避開之障礙物座標給LabView，在軌跡生成進行各點之位置、速度、加速度之插值時，將會把此座標加入為限制條件，達到避開此障礙物的效果。

The thesis mainly develops a robotic arm system which applies to restaurant service-oriented robots. With vision systems, it can operate control of equations of motion and generation of locus on coordinate captured by vision systems to make robotic arm achieve required position. And it conducts action of gripping plates or lifting tables, and by voice systems to control robotic arms. Equations of motion in the study use LabView of PC to calculate, including forward kinematics, inverse kinematics, and generation of locus. Before solving kinematics, it must create a D-H parameter table. With forward kinematics, it can calculate coordinate of end of robotic arm from each axis of motor angle. And with inverse kinematics, it can derive coordinate of end of robotic arm to required rotating angle of each axis of motors. Integrating forward kinematics with inverse kinematics, it can make robotic arm achieve to required position stably. In addition, it makes use of equations of locus generating, between starting point and end point, set a few points of motor on position, speed, and interpolation; and it conducts acceleration each point of motor on position, speed, and interpolation. In that way, it can generate complete path planning. In generating of locus, it leaves LabView obstacle coordinates which are needed to keep away from. Conducting acceleration each point of motor on position, speed, and interpolation as generating of locus, it adds the coordinates as restrictions to attain effect of avoid the obstacles.

摘 要 I
Abstract III
誌　謝 V
目錄 VI
圖目錄 VIII
表目錄 XII
第一章 緒論 1
1.1研究動機與目的 1
1.2文獻回顧 3
1.3論文架構 4
第二章 系統架構 5
2.1 六軸機器手臂系統機構 7
2.2機器手臂之馬達 11
2.3馬達控制器 14
A. 控制部分 15
B. 光學編碼器解碼部分 16
C. 馬達驅動部分 18
D. 電路板與PC之溝通部分 19
第三章 機器手臂之運動方程式 22
3.1 正向運動學 23
3.2逆向運動學 32
3.3路徑軌跡之生成 36
3.3.1三次多項式及五次多項式之軌跡生成函數 36
3.3.2 探討軌跡生成之避障 43
第四章 整體控制系統與動作流程 48
4.1 PC與MCU之溝通 48
4.2光學編碼器之解碼 52
4.3 馬達速度之PWM調變 56
第五章 實驗結果 60
5.1 LabView之操作介面與運動方程式 60
5.2馬達輸出波形之運動情形 71
5.3位置誤差量測與夾取餐盤及避障 74
第六章 結論與未來展望 79
6.1結論 80
6.2未來展望 81
參考文獻 81
作者簡介 84

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