本文主要研究四軸機械臂運動軌跡規劃與力量控制及其於機械素描上的應用。模仿藝術家利用視覺前處理分析人臉輪廓及陰影與其深淺，經由影像處理所得到的命令點利用運動與力控制之整合畫在紙上。本文中一開始會針對機械臂運動學及動態方程進行分析，包含座標系統建立、順向及反向運動學推導、動態模型建立等。在路徑軌跡規劃上，採用節點座標軌跡規劃法來進行討論。而後設計控制器及力量補償器來達成任務需求。實驗進行位置及力量控制實驗與加入力量補償之軌跡追蹤控制實驗兩部分，其結果顯示機械臂應用於素描上之誤差在1mm以下。

This dissertation studies the motion planning and force control for four-axis robotic manipulator, and its application on the machine sketching. Use the image pre-processing to get feature curves and depth, and then they become point to point motion commands by using motion planning and force control to draw on the paper. Beginning of this article, it analyses kinematics and dynamics equations for four-axis robotic manipulator. It consists of the coordinate system construction, forward and inverse kinematics derivation, dynamic modeling and so on. On the trajectory planning, it discusses node coordinate trajectory planning method. Then, design a controller and force compensator to achieve requirements. The experiments consist of two parts: positioning and force control, and trajectory tracking and force control. The results show the precision up to 1mm.

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