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研究生: 林政霆
Zheng-Ting Lin
論文名稱: 整合S 曲線於速度控制之機械手臂路徑規劃研究
Study of Path Planning Integrating S-Curve Speed Control for Robot Manipulators
指導教授: 郭永麟
Yong-Lin Kuo
口試委員: 孔健君
none
楊振雄
Cheng-Hsiung Yang
郭鴻飛
Hung-Fei Kuo
學位類別: 碩士
Master
系所名稱: 工程學院 - 自動化及控制研究所
Graduate Institute of Automation and Control
論文出版年: 2016
畢業學年度: 104
語文別: 中文
論文頁數: 90
中文關鍵詞: 並聯式機械手臂路徑規劃梯形速度控制S-curve 速度控制
外文關鍵詞: Delta robot, path planning, Trapezoid speed control, S-curve speed control
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  • 並聯式機械手臂於現今已是工業上非常重要以及經常被廣泛使用的一種機械手臂。本文研究了並聯式機械手臂的歷史以及發展過程,同時也點出九個並聯式機械手臂與串聯式機械手臂最大的差異性以及並聯式機械手臂在特定工業上的廣泛應用。藉由已發展成熟的Delta 並聯式機械手臂理論本論文清楚的推導出Delta 並聯式機械手臂的正向運動學、逆向運動學、奇異點分析以及工作空間上的分析。
    以下我們會針對Delta 並聯式機械手臂進行各種的路徑規劃,其中曲線包含:直線、圓、拋物線、螺旋線、貝茲曲線、Cubic-spline、B-spline。由上敘述中所提及的路徑皆為現今工業上使用頻繁的路徑,而當我們規劃好路徑後,將會利用辛普森積分法以及二分法結合兩種不同的速度控制以達到平滑的效果;其中速度包含了:梯形速度控制以及S-curve 速度控制,以上這兩種速度控制方式同時也是現今工業上經常運用的方式。
    針對Delta並聯式機械手臂,本文於文末會進行不同的路徑,分別套用於S-curve 速度控制進行討論以及分析。


    A parallel robot is one kind of robot that plays an important role, and also the Delta robot is widely used in industry nowadays. It not only presents the background of the Delta robot including its history and development in this thesis but also explains the industrial applications, the current design and the future trend of Delta robot. Then it proposes nine differences between the parallel robot and the series robot. Ultimately, the kinematics of the Delta robot, including the direct and inverse kinematics, the workspace, and the singularity analysis, are systematically presented in detailed.
    This study mainly focuses on the trajectory planning for the Delta robot, which includes the path planning in the three-dimensional space and the motion profile design of the end-effector. The path planning provides straight lines, circles, parabolic curves, Bézier curves, Cubic-spline curves, and B-spline curves. The motion profile design provides the trapezoid speed control and the S-curve speed control. These paths and the speed control methods are usually applied to the industry. When the path is specified, the Simpson's rule and the bisection method are applied to determine the coordinate of the end-effector at any specific time, and then the angles of the active joints can be evaluated based on the inverse kinematics.

    目錄 摘要I AbstractII 目錄III 圖目錄V 表目錄VII 第1章:緒論1 1.1.前言1 1.1.1. 並聯式機械手臂學術上發展1 1.1.2. 並聯式機械手臂工業上發展3 1.1.3. Delta robot工業設計與配置4 1.2.研究動機5 1.3.論文架構6 第2章:運動學分析7 2.1.正向運動學推導7 2.2.逆向運動學推導10 2.3.運動空間與奇異點分析11 第3章:路徑規劃14 3.1.直線、圓、螺旋線14 3.2.3D空間中的拋物線19 3.3.貝茲曲線(Bézier curve)20 3.4.Cubic-spline21 3.5.B-spline25 3.6.B-spline轉換為Cubic-spline28 第4章:速度控制30 4.1.速度控制概論30 4.2.梯形速度曲線31 4.3.S-curve型速度曲線32 4.4.辛普森線積分39 4.5.二分法42 4.6.速度控制與路徑規劃結合44 第5章:結果與討論48 5.1.直線、圓、螺旋線、拋物線50 5.2.B-spline與Cubic-spline63 5.3.非對稱速度曲線套用於B-spline與Cubic-spline68 第6章:結論與未來展望74 6.1.結論74 6.2.未來展望75 參考文獻76

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