本論文建立一套六自由度機器手臂模組，包含硬體設計、控制系統、數學模型和模擬程式以及實作，機器手臂設計以簡易、輕巧為設計方針，可直接透過一般個人電腦來控制。透過順向運動學與逆向運動學建立機器手臂數學模型，接著分別從卡式座標系(Cartesian-space)和軸座標系(Joint-space)以帶拋物線混合的線性函數(Linear Function with Parabolic Blends)方法進行軌跡規劃，在工程軟體進行模擬並驗證，最後實現在本論文設計之機器手臂系統。
藉由移動物品、開門、開關水龍頭、澆花、移動雞蛋和寫字等實驗的動作彰顯機器手臂的多功能性，此外根據本論文設計之重複性精度實驗結果，機器手臂末端點座標的最大偏移量僅有0.04 mm。以實驗性質的層面來看，不論是在機器手臂的實用性還是手臂本身的精密程度，本論文設計之機器手臂系統均有良好的表現。

This research designed and implemented a set of six-degree-of-freedom robotic arm modules, including a hardware design, a control system, mathematical models and a simulation program. The design of the robotic arm is based on simplicity and lightness, which can be directly controlled by a general desktop or laptop computer. The mathematical models of the robotic arm are established through forward kinematics and inverse kinematics, and then the trajectory planning is performed using the Linear Function with Parabolic Blends method from the Cartesian coordinate system and joint coordinate system, verified and simulated by the engineering software tool.
The versatility of the robotic arm proposed in this thesis is demonstrated by experiments on moving objects, opening doors, opening and closing faucets, watering flowers, moving an egg, and writing letters. Moreover, according to the results of the repeatability accuracy experiment designed in this thesis, the maximum offset of the end point coordinates of the robotic arm is only 0.04 mm.

[1] International Federation of Robotics, “Global industrial robot sales doubled over the past five years,” 2019. [Online]. Available: https://ifr.org/ifr-press-releases/news/robot-investment-reaches-record-16.5-billion-usd [Accessed: Mar. 10, 2020].
[2] Wikipedia, “Denavit-Hartenberg parameters,” [Online]. Available: https://en.wikipedia.org/wiki/Denavit%E2%80%93Hartenberg_parameters [Accessed: Mar. 12, 2020].
[3] J. J. Craig, Introduction to Robotics: Mechanics and Control Third Edition. Upper Saddle River, NJ: Pearson Education, 2005.
[4] D. L. Pieper, “The kinematics of manipulators under computer control,” 1968. [Online]. Available: https://apps.dtic.mil/dtic/tr/fulltext/u2/680036.pdf [Accessed: Mar. 22, 2020].
[5] DOBOT, “DOBOT Magician,” [Online]. Available: https://www.dobot.cc/dobot-magician/product-overview.html [Accessed: Apr. 22, 2020].
[6] ARDUINO, “Tinkerkit Braccio Robot,” [Online]. Available: https://store.arduino.cc/usa/tinkerkit-braccio [Accessed: Apr. 22, 2020].
[7] ROBOTIS , “OpenManipulator-X,” [Online]. Available: http://www.robotis.us/openmanipulator-x-rm-x52-tnm/ [Accessed: Apr. 28, 2020].
[8] B. Siciliano and O. Khatib, Springer Handbook of Robotics. New York: Springer, 2008.
[9] V. Patidar and R. Tiwari, “Survey of robotic arm and parameters, ” 2016 International Conference on Computer Communication and Informatics (ICCCI), Coimbatore, 2016, pp. 1-6, doi: 10.1109/ICCCI.2016.7479938.
[10] K. Keerthana Rathan, A. Ajith, S. Aswathi and V. M. Silpa, “Survey of robotic arm controlling techniques, ” 2017 International Conference on Intelligent Sustainable Systems (ICISS), Palladam, 2017, pp. 759-763, doi: 10.1109/ISS1.2017.8389277.
[11] R. E. Meligy, A. M. Bassiuny, E. M. Bakr and A. A. Tantawy, “A feasible minimum-time trajectory of robot manipulator,” 2013 9th International Symposium on Mechatronics and its Applications (ISMA), Amman, 2013, pp. 1-5.
[12] P. Shen, X. Zhang and Y. Fang, “Complete and time-optimal path-constrained trajectory planning with torque and velocity constraints: theory and applications,” in IEEE/ASME Transactions on Mechatronics, vol. 23, no. 2, pp. 735-746, April 2018.
[13] 蘇泓瑞，具地圖繪製與定位、自主開門之機器人設計與實作，國立虎尾科技大學資訊工程系碩士班碩士論文，2018。
[14] 曾雲楓，基於RGB-D影像深度學習之機器手臂物體識別與最佳夾取點偵測，國立中正大學工學院電機工程研究所碩士論文，2019。
[15] 劉貽仁，機器手掌與機器手臂自動抓取規劃與軌跡規劃，國立臺灣大學機械工程學研究所學位論文，2016。
[16] 李漢彰，機器手臂的軌跡規劃時間最優化研究，國立虎尾科技大學自動化工程系碩士班碩士論文，2018
[17] 吳仁豪，游凱安，“工業用六軸機器手臂”， [Online]. Available: http://ir.lib.ntust.edu.tw/bitstream/987654321/49561/4/%E5%B7%A5%E6%A5%AD%E7%94%A8%E5%85%AD%E8%BB%B8%E6%A9%9F%E5%99%A8%E6%89%8B%E8%87%82%E5%B0%88%E9%A1%8C%E6%9B%B8.pdf [Accessed: Mar. 28, 2020].
[18] 林沛群，“機器人學一”，[Online]. Available: https://www.coursera.org/learn/robotics1 [Accessed: Mar. 31, 2020].
[19] Wikipedia, “Black oxide,” [Online]. Available: https://en.wikipedia.org/wiki/Black_oxide [Accessed: Apr. 23, 2020].
[20] 維基百科，“3D列印”， [Online]. Available: https://zh.wikipedia.org/wiki/3D%E6%89%93%E5%8D%B0 [Accessed: Feb. 10, 2020].
[21] 維基百科，“鋁合金”， [Online]. Available: https://zh.wikipedia.org/wiki/%E9%8B%81%E5%90%88%E9%87%91 [Accessed: Feb. 20, 2020].
[22] ROBOTIS , “DYNAMIXEL X-Series,” [Online]. Available: http://www.robotis.us/x-series/ [Accessed: Apr. 19, 2020].
[23] ROBOTIS, “XM540-W270,” [Online]. Available: http://emanual.robotis.com/docs/en/dxl/x/xm540-w270/ [Accessed: Apr. 12, 2020].
[24] ROBOTIS, “XM430-W350, ” [Online]. Available: http://emanual.robotis.com/docs/en/dxl/x/xm430-w350/ [Accessed: Apr. 12, 2020].
[25] ROBOTIS, “DYNAMIXEL SDK,” [Online]. Available: http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/overview/ [Accessed: Apr. 18, 2020].
[26] ROBOTIS, “U2D2,” [Online]. Available: http://emanual.robotis.com/docs/en/parts/interface/u2d2/ [Accessed: Apr. 19, 2020].
[27] ROBOTIS, “U2D2 Power Hub Board,” [Online]. Available: http://emanual.robotis.com/docs/en/parts/interface/u2d2_power_hub/ [Accessed: Apr. 19, 2020].