本論文係探討半人型機器人之機械手臂運動控制。首先描述機器人硬體架構與六個自由度的機械手臂之機構設計，其致動器為裝備有光學編碼器的直流馬達，藉由此編碼器可計算出直流馬達的轉動角度。經由核心處理器NIOS，整合馬達的回授訊號以及機器人的感知系統資訊，並運算機械手臂軌跡控制演算法，實現機械手臂軌跡追蹤控制的目標。利用逆運動學之幾何法推得機械手臂的運動模型，經由已知的手臂姿態與位置，解出各個關節應轉動的角度。本論文提出模糊軌跡控制演算法，首先將空間中的位置誤差以逆運動學轉換成馬達的角度位置，對回授訊號做控制補償，再由模糊邏輯控制器產生命令，以達成機械手臂軌跡追蹤行為。最後，由實驗結果來驗證所設計之機械手臂軌跡追蹤控制系統的效益及適用性。

This thesis mainly explores the motion control of a semi-humanoid robot arm. First, the hardware architecture and the mechanism of the 6-DOF (degree of freedom) semi-humanoid robot arm are described. The actuator of a robot arm is the six DC motors equipped with an optical encoder, and depending on the encoder, the angle of the rotation can be calculated to integrate the information of the encoders with a perception sensor system. The SOPC system is established to process the trajectory control algorithm. Second, given the position and posture, the joint angles of the rotary joints can be obtained by the geometrical inverse kinematics analysis. And then a fuzzy trajectory control algorithm, which consists of a trajectory tracking system and a fuzzy logic controller
(FLC), is proposed. Through the kinematical model, the angle in the robot coordinate frame can be turned into the absolute position in the world coordinate frame, and the errors of the position based on the kinematical model can be corrected. Based on the command generated from the fuzzy controller, the robot arm can achieve the goal. Finally, the experiment demonstrates the efficiency and feasibility of the proposed system.

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