• 作者： 劉昌煥; 陳燕明; 陳雙源; 蔡超人
• 作者服務機構： 國立臺灣工業技術學院電機工程技術系; 機械工程技術系
• 中文摘要： 欲直接控制機器人在直角座標空間中的運動需要能即時運算的反運動與反動力法則。本論文針對史丹福型機器人，探討直角座標式控制器的設計。本文利用晚近所提出的反運動與反動力法則，發展以機器人手部為準的控制器。其中，反運動法則包含位置、速度與加速度的反運動計算；反動力法則包含了完整的機器人動力方程式的計算。為了衡量執行控制法則所需的算術運作，文中尚探討計算複雜度的分析，其結果可用於決定控制器是否適合以現有16位元或32位元微處理機實現。本文所推導出的直角座標式控制器可以多處理結構完成，而論文中所得結果亦適用於任何具球狀腕部的六軸機器人。
• 英文摘要： To directly control the motion of a robotic manipulator in Cartesian space requires efficient inversekinematic and inverse dynamic algorithms that can be executed on-line. This paper investigates the designof such a Cartesian-based controller for a robotic manipulator, namely, the Stanford manipulator. Theefficient inverse kinematic and inverse dynamic algorithms that were proposed recently are used to developthe hand-based control law. The inverse kinematic algorithms consist of inverse kinematic-position, -velo-city，and -acceleration computations. The inverse dynamic algorithm involves the computation of the com-plete manipulator dynamics. Computational complexity analysis is conducted so as to evaluate the numberof arithmetic operations in executing the control algorithms. The controller is aimed at implementing onpresent-day 16-bit or 32-bit microprocessors. The Cartesian-based controller is realized by basing on amulti-processing structure. The results of this paper are applicable to a general class of six-axis manipulatorswith spherical wrists.
• 中文關鍵字： cartesian space control; robotic manipulator
• 英文關鍵字： --