- 作者: 黃其?; 周鐘平; 陳雙源; 陳維; 劉昌煥
- 作者服務機構: 國立台灣工業技術學院電機工程技術系; 國立台灣工業技術學院機械工程技術系
- 中文摘要: 本論文介紹通用型機器人運動規畫與控制系統之設計與製作。此系統以一主微電腦作運動規畫,多微處理機式伺服控制器作即時運動控制。系統之設計係根據分散式微處理機架搆,同時並強調實現高等運動規畫與控制理念之可適用性。為達到即時直角空間運動,本論文以機器人語言發展出近似直角路徑之線上關節軌跡規畫法則。此系統已成功用於六軸機器人之控制。關於此二型機器之人運動規畫與實驗結果將以範例介紹。
- 英文摘要: This paper presents the design and implementation of a motion planning and control system forgeneral purpose robotic manipulators. The system consists of a host microcomputer for motion planningand a multi-microprocessor-based digital servo controller for real-time motion control. The system designis based on a distributed microprocessor-based architecture and emphasizes applicability for realizingadvanced robot motion planning and control concepts. To achieve real-time Cartesian space motion,on-line approximate Cartesian-path joint-trajectory plannin algorithms are developed using the pro-gramming language. The system has been successfully applied to the control of six-axis and five-axis robots.Examples concerning the motion planning and actual experimental results of the two robots are presented.
- 中文關鍵字: robotics; motion planning; control
- 英文關鍵字: --