本文主要研究為四軸機械臂運動軌跡規劃與控制，將其運用在素描繪畫上。模仿藝術家利用視覺前處理分析人臉細部輪廓及陰影，經由影像處理得到點到點的運動命令後再經由四軸機械手臂畫於畫紙上。在本文中一開始會針對機械臂運動學進行分析，分別對座標系統建立、順向運動學、反向運動學進行討論並且建立機械臂的動態模型。而在路徑軌跡規劃上，將對節點座標軌跡規劃法來做討論與分析。最後在實驗上將進行定位控制實驗以及軌跡追蹤控制實驗，實驗結果顯示出機械臂應用於素描上實驗誤差能控制在1mm以下，並在臉部素描上有很高的相似度。

The aims of this dissertation are the trajectory planning and control for the manipulator with 4 degrees of freedom, and its application to portrait sketching. The feature curves are generated for a given portrait by image processing at the pre-processing stage. These curves then become a set of point to point motion commands for the manipulator to draw them on the paper. The trajectory planning is carried out in the joint-space with inverse kinematics. Positional control and trajectory control are then applied for achieving the portrait sketching. The experimental results show that the manipulator can be manipulated with precision up to 1 mm. The resulting accuracy and drawing of portraits demonstrate the satisfactory performance of the robot.

參考文獻
Asada, H., and Slotine, J. J. E., 1985, ROBOT ANALYSIS AND CONTROL,” John Wiley & Sons, Inc., New York.

Cai, S. J., 2006, “Contouring Control of Redundancy Robotic Manipulator,” Master Dissertation, Department of Mechanical Engineering, National Cheng Kung University.

Calinon, S., Epiney, J., and Billard, A., 2005, “A humanoid robot drawing human portraits,” IEEE-RAS International Conference on Humanoid Robots, pp 161-166.

Chen, C. L., and Peng, C. C., 2009, “Reconstruction and rejection of mismatched and matched external disturbances by sliding mode methodology ,” Europian Control Conference 2009, Budapest, Hungary, August 24-26.

Chen, C. L., Wu, T. C., and Peng, C. C., 2011, “Robust trajectories following control of a 2-link robot manipulator via coordinate transformation for manufacturing applications,” Robotics and Computer-Integrated Manufacturing, 27, pp.569-580.

Chettibi, T., Lehtihet, H. E., Haddad, M., and Hanchi, S., 2003, “Minimum cost trajectory planning for industrial robots,” European Journal of Mechanics, 23, pp. 703-715.

Ciou, S. H., 2004, “Motion Planning and Control of a Projectile Robot,” Master Dissertation, Department of Mechanical Engineering, National Cheng Kung University.
Lin, C. J., 1998, “Motion Planning and Tracking Control of Redundant Robots,” PhD Thesis, Department of Mechanical Engineering, National Cheng Kung University.

Niku, S. B., 2010, An introduction to robotics: analysis, control, applications- 2nd ed, John Wiley & Sons, Inc., New York.

Peng, C. C., 2009, “Design of Sliding Mode Controller and Its Applications to Contouring and Tracking Control of Mechanical Syetem,” PhD Thesis, Department of Mechanical Engineering, National Cheng Kung University.

Peng, C. C., and Chen, C.L., 2009, “Dynamic Controller Design for a Class of Nonlinear Uncertain Systems Subjected to Time-Varying Disturbance,” Nonlinear Dynamics, 57, No. 1-2, pp. 411-423.

Peng, C. C., Chen, C. L., and Christopher Edwards, 2009, “Reconstruction and Rejection of Mismatched and Matched Disturbances for a Class of Multivariable Systems,” ICROS-SICE International Joint Conference, Fukuoka, Japan, 18-21 Aug., 2009.

Peng, C. C., Li, Y. Z., and Chen, C. L., 2011, “A robust integral type backstepping controller for control of uncertain nonlinear systems subject to disturbance,” International Journal of Innovative Computing Information and Control, 7, No.5(A), 2543-2560.

Raibert, M. H., Craig, J. J., 1981, “Hybrid Position/Force Control of Manipulators,” Journal of Energy Resources Technology, 103. pp. 126-133.

Walker, M. W., and Orin, D. E., 1982, “Efficient Dynamic Computer Simulation of Robotic Mechanisms,” ASME Journal of Dynamic System, Measurement and Control, 104, pp. 205-211.
Yun, W. M., and Xi, Y. G., 1996, “Optimum motion planning in joint space for robots using genetic algorithms,” Robotics and Autonomous System, 18, pp.373-393.