隨著科技的發展近年來由於機電整合和人工智慧的進步，工業上在自動化設備及機械手臂應用領域逐漸多元化，根據使用者的需求，我們首先需擬定設備的動作路徑，路徑規劃是否平滑且符合硬體之規格定位精確，以及路徑是否能通過我們所設定的各控制點位置尤其重要，接著在路徑規劃完後，我們會做速度上的規劃，速度規劃是否無震盪現象且符合硬體之極限值下加速運轉，以及速度是否具有連續性並使得設備運轉達到最好的效能，這都是值得我們進一步去探討的議題，於此本文會在飛剪機構與硬碟點膠機兩個應用案例，針對路徑規劃和速度規劃做分析與討論。

飛剪機構研究部份，基於已有的同步區運動學模型，本文將S-curve曲線及三階多項式曲線作為機構上非同步區主軸與從軸之動作規劃，透過最佳化演算法設定限制條件及目標函數，解決飛剪機構運動上從軸反轉之問題，與降低最大速度能耗的效用性。在硬碟點膠機研究部份，我們首先探討路徑規劃B-spline曲線在各類型節點向量之設定差異性，基於已有的B-spline曲線數學模型我們再介紹NURBS曲線，並比較B-spline曲線與NURBS曲線的差異性，而傳統上這兩種曲線所形成的路徑皆無法通過中間的控制點位置，於此本文針對這點缺陷透過虛擬控制點將NURBS曲線修改為通過控制點式，然後使用最佳化演算法探討其平滑性，接著我們利用S-curve、Sine-curve、三次多項式等曲線進行速度規劃，並使用基因演算法與牛頓法等最佳化演算法限制其速度範圍將總時間設定為目標函數，達到速度平滑且符合硬體之極限值下速度具有連續性並使得設備運轉達到最好的效能。

With the development of science and technology, the electromechanical integration and artificial intelligence have improved in recent years. The industry application is gradually diversifying in the fields of automation equipment and robotic arm. According to the requirement of users, we have to design moving path of equipment at first. It is very important that the path planning is smooth and below the limit of the hardware specifications to locate position, and the path can pass through each of the control points. After the path planning is completed, we will do speed planning. Besides, it is worth to discuss that the speed has no oscillation and conforms to the hardware accelerating operation limit, and the speed is continuous and makes
the equipment reach the best performance. This thesis will mainly focuses on flying shear mechanism and dispensing machine two cases. Finally we will analyze path planning and speed planning results.

In flying shear mechanism part, based on existing kinematic model of synchronized zone, this thesis takes the S-curve and the third-order polynomial curve as the motion of master axis and the slave axis in the unsynchronized area. We use the optimization algorithm to set constraints and objective function solving slave axis reversal problem and reducing maximum speed energy consumption. In dispensing machine part, we discuss the difference in setting of B-spline curve for each type of node vector at first. Based on B-spline curve mathematical model, we introduce NURBS curve later. And then we compare difference between B-spline curve and NURBS curve. Traditionally, the paths formed by these two kinds of curves can’t
pass through the middle control points position. In this thesis, we use virtual control points to modify NURBS curve passing the control points position. We use optimization algorithm to discuss its smoothness. And we use S-curve、Sine-curve、third-order polynomial curve to do speed planning. Finally we use Genetic algorithm and Newton's method optimization algorithm to restrict its speed range and set total times as the objective function. This method make the curve smoothly and conform to the hardware operation limit. Also, the curve planning is continuous and make the equipment have the best operation efficacy.

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