工廠生產線能夠逐漸由人工轉變為自動化，其中機械手臂的使用是一大關鍵。以往在生產線設計的過程中，機械手臂選型只能根據規格進行挑選，過程中可能會因為無法觀看實際機械手臂動作情形而導致選擇的型號不完全符合實際需求，此外在建立移動路徑及控制器調試上必須配合實際機械手臂進行，透過此方式須經過繁瑣的流程才能夠進行測試，導致開發效率降低。本研究的目的為提出了一個結合運動學及運動控制模擬、實際環境模擬及實機控制的系統以提升自動化產線中機械手臂開發的效率。其中使用MATLAB進行運動學及運動控制模擬，藉由MATLAB建立虛擬機械手臂及運動學以幫助使用者進行路徑規劃及確認機械手臂根據路徑移動的情形，而實際環境模擬藉由Simulink建立，帶入根據需求而設計的模擬流程及機械手臂慣性參數，能夠幫助使用者在接觸真實機械手臂前能夠事先進行控制器軟體的設計及模擬，以找出適合生產線的移動流程、路徑及控制器參數，實機控制部分則是透過MATLAB及TwinCAT建構出所需軟體環境，將運動學模擬計算結果透過TwinCAT進行實機測試驗證。最後由實際案例可看到，經由本研究建立的視覺化介面能夠幫助使用者在進行路徑規劃時能夠透過3D畫面確認是否正確，且透過實機測試驗證結果，此外也能夠透過系統中實際環境模擬架構，針對需求進行環境建立及模擬，藉此可驗證此系統確實能夠幫助使用者進行機械手臂軟體開發。

As the production line have gradually changed from manual to automate, the main key is the use of robot arms. In the past, engineer could only select the equipment by specifications and could not have the view of actual robot action during the design of the production line. In addition, engineer may go through a complicated process to establish motion path and adjust controller parameters by actual robot.

The purpose of the study proposes a system combining kinematics and motion control simulation, actual environment simulation and robot control to help engineer to design motion path and adjust controller parameters before using the actual robot arm. In the study, we use MATLAB for kinematics and Control design simulation to help the user to carry out the path planning and confirm the movement of the robot arm. In addition, we use Simulink for actual environment simulation. Engineer can find the suitable movement process, path and controller parameters according to the production line. The actual robot control part is to construct the required software environment through MATLAB and TwinCAT, and engineer can verify the simulation results by using TwinCAT. Finally, from the actual cases, the visual interface can help the engineer confirm the correctness of the path, and verify the results through the actual robot. Furthermore, the simulation environment can be built and simulate in the system. According to the result of the actual cases, this system can really help engineer to develop robotic software.

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