本篇論文主要為加入NURBS曲線軌跡規劃法的四軸機械臂運動之整合控制，並將其應用於機械素描。模仿畫家利用影像處理分析人的臉部輪廓，再利用四軸機械臂描繪在紙上。主要研究包含建立座標系統、推導順向運動學、反向運動學與動態方程式。路徑軌跡規劃部分，使用節點座標軌跡規劃法與NURBS曲線軌跡規劃法。接著設計插值器與控制器來達成研究目標。實驗部分，進行三個軌跡追蹤控制實驗，分別為基本圖形之模擬、簡易圖形之描繪與人像素描之描繪，描繪結果顯示軌跡追蹤控制實驗於卡式座標的誤差在1mm以下。

In this thesis, we study the motion planning by NURBS interpolation, the control of the four-axis manipulator, and its applications for machine sketching. The feature curves of the given portrait are generated by image processing. Then, we turn them into a set of command points which the four-axis manipulator will draw on the paper. At the beginning of this thesis, we analyses kinematics and dynamics equations of the four-axis manipulator, which consists of the establishment of coordinate system, the derivation of forward and inverse kinematics, and the derivation of dynamic equations. In the trajectory planning part, we use trajectory planning in joint space and NURBS curve fitting. Then, we design an interpolator and a controller to achieve the purpose of this thesis. The experiments consist of three parts: the simulation of basic geometry, the machine sketching of a simple figure and the machine sketching of a portrait. The results show that errors are less than 1mm in Cartesian coordinate system.

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