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研究生： 邱士豪
Chiu, Shih-Hao
論文名稱： 機械臂之拋射運動路徑規劃與控制
Motion Planning and Control of a Projectile Robot
指導教授： 陳介力
Chen, C.L.
學位類別： 碩士
Master
系所名稱： 工學院 - 航空太空工程學系
Department of Aeronautics & Astronautics
論文出版年： 2004
畢業學年度： 92
語文別： 中文
論文頁數： 118
中文關鍵詞： 機械手臂 、運動路徑規劃 、控制 、運動學 、動力學
外文關鍵詞： robot, motion planning, control, kinematics, dynamics
相關次數： 點閱：85  下載：8 
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    • 　　本論文目的在設計出一機械手臂仿效真人投擲飛鏢的動作，拋射飛鏢命中目標位置。本論文首先由座標系統的建立，逐步探討機械臂的順向運動學，反向運動學，速度運動學，並建立機械手臂的動態模型，以做為控制機械手臂動作的基礎。此外為了讓所建立的動態模型更接近實際的機械手臂動態，還加入了摩擦力的考量，以獲得較為精確的機械手臂動態模型。本文在運動路徑規劃方面根據S Curve發展出一套演算法來規劃運動路徑，規劃出一條能兼顧馬達性能、考量機械手臂動態，且符合拋射條件的運動路徑。最後針對實驗中所有可能發生的誤差加以分析，並設法改善。實驗的結果顯示，本研究之應用可順利完成拋射需求，並使拋射物落點誤差控制在10 mm以內。

    　　The purpose of this dissertation is designing a robot arm to imitate dart throwing motion of human, and to hit the desired target. The main work includes the construction of coordinate systems, study the forward kinematics, inverse kinematics, velocity kinematics, and establish the dynamic model of robot arm. Particularly, the friction effect is considered such that the dynamic model can describe the motion of robot in practice. The motion planning based on S Curve is studied, which also considers the trade-off between motor performance and robot dynamics, to achieve the condition for dart throwing. The error analysis of the experiments is studied to improve the resulting performance. The results show that it can achieve the prescribed projectile and hit the desired target location within the range of 10 mm.

    中文摘要..........................................I 英文摘要.........................................II 誌謝............................................III 目錄.............................................IV 表目錄..........................................VII 圖目錄.........................................VIII 第一章 緒論...................................1 1.1 研究動機..........................1 1.2 飛鏢運動簡介......................2 1.3 文獻回顧..........................3 1.4 本文架構..........................5 第二章 機械手臂之運動分析.....................6 2.1 座標系統..........................7 2.2 機械手臂的座標系統................9 2.3 順向運動學.......................12 2.4 反向運動學.......................14 2.5 速度運動學.......................17 第三章 機械手臂之動態分析....................22 3.1 機械手臂動力學...................23 3.2 質量平衡系統.....................26 3.3 摩擦力的估測.....................30 第四章 運動路徑規劃..........................39 4.1 運動路徑規劃法介紹...............39 4.1.1 直線插補法................40 4.1.2 三次方多項式插補法........41 4.1.3 五次方多項式插補法........45 4.2 利用S Curve規劃運動路徑..........50 4.3 結果與討論.......................55 第五章 實驗與討論............................59 5.1 實驗硬體與軟體...................59 5.2 夾爪的選取.......................63 5.3 場地設置以及比賽規則.............69 5.4 拋射運動公式.....................69 5.5 實驗步驟.........................74 5.5.1 歸零動作..................74 5.5.2 發射角度和角速度的推算....77 5.6 誤差來源分析.....................80 5.6.1 控制誤差..................80 5.6.2 夾爪時間延遲誤差..........82 5.6.3 機件結構誤差..............87 5.7 實驗結果.........................90 第六章 結論與建議............................93 參考文獻.........................................95 附錄A 機械手臂零組件明細.........................97 附錄B 硬體設備規格..............................106 附錄C 比賽規則以及場地說明......................112 附錄D 反向速度運動學解..........................116 自述............................................118

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