本文探討自行設計與製作的四自由度機械手臂控制系統，此系統包含機構、硬體電路以及軟體程式。首先，設計比例-積分控制器以便控制直流電動機，然後進一步控制機械手臂。其次，探討機械手臂的機構，建構機械手臂的運動學模型，推導適用於本系統的逆向運動學解法，以便分析機械手臂的動態行為。最後，實現兩種不同的軌跡規劃方法，產生機械手臂的運動軌跡。
本文使用國家儀器公司的NI cRIO-9024嵌入式系統作為控制核心，執行位置迴路控制、軌跡規劃、及座標轉換計算等。實驗結果說明本文所提方法的可行性及正確性。

This thesis investigates design and implementation of a four- degree-of-freedom robotic arm control system, including mechanical configuration, hardware circuits, and software programs. First, a proportional-integral controller is designed to control a DC motor and then to control the robotic arm. Next, the mechanical configuration and a kinematic model of the robotic arm is discussed. A geometric solution of inverse kinematics are proposed to analyze the dynamic behavior of the robotic arm system. After that, two different trajectory planning methods are implemented to generate the planning trajectories for the robotic arm.
An embedded system, NI cRIO-9024, made by National Instrument Company, is used as the control center to excute the position control, trajectory planning of the motor, and coordinate conversion calculation of the robotic arm. Experimental results can validate the feasibility and correctness of the proposed method.

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