本研究主要研製一台整合智慧型微控制晶片嵌入式二自由度夾爪與五自由度工業用機械手臂之機器人系統架構。在此架構下，利用機械手臂進行空間位置的定位，而智慧型夾爪則進行觸覺力量感測與控制，此外在兩個自獨立的系統架構間建立I^2 C溝通協定。機械手臂先定位到達目標物之空間位置，再呼叫智慧型夾爪進行觸覺感測，藉由適當之正向力夾持，以避免夾取物因過大夾持正壓力而受到破壞。然而機械手臂在搬運的過程中，因為馬達與機構之震動，可能導致夾持物產生滑移現象，為了避免此現象發生，我們可以透過剪切力量測來進行夾持力的調整，以提升夾持物體時之不確定擾動的強健性。
嵌入式智慧型二自由度夾爪硬體方面是以Arduino Nano 3.0為控制核心，並配合自製的馬達驅動電路、電位計、I^2 C多工器等等，另外搭配FSR壓阻式力量感測器以及二自由度電容式剪力感測器之結合以完成正壓力與剪切力之量測。軟體方面主要是利用FSMC控制理論來設計位置與力量的控制器架構，完成不同軟硬物體之夾持力判別與滑動監控補償之智慧型決策。
機械手臂硬體控制架構是以ALTERA Nios II Embedded Development Kit（以
下簡稱Nios II 發展板）為核心，在Nios II 發展板內以數位硬體電路實現訊號擷取與輸出控制訊號之功能，數位控制訊號由Nios II 發展板送至自製直流馬達驅動電路以驅動各軸馬達。數位電路包含五組光學編碼器信號偵測、四倍頻寬解碼電路、極限開關訊號偵測、五組脈波寬度調變信號輸出、I^2 C通訊架構、IR接收解碼器、SDRAM控制模組等等。軟體部分則是在NiosII之整合開發環境介面編寫系統之人機介面、正反運動學方程式計算、點對點運動控制、控制器架構、連續運動軌跡計算、機械手臂運動之程序控制等等。

In this thesis, an two degrees of freedom intelligent gripper with embedded micro-control chip is designed and integrated with an five degrees of freedom industrial robotic arm. The robotic arm monitors end-effector position, and intelligent gripper control the tactile force. I^2 C communication protocol is established for these two independent systems structure. The robotic control system manipulator the end-effector of robotic arm to arrive the spatial target location firstly, then sends asignal by I^2 C to intelligent gripper. The intelligent gripper receives command to control the tactile force. Appropriate clamping force should be specified to avoid destroy objects due to excessive clamping force. In addition, the clamped object may slip during robotic arm motion due to dynamic variation. The clamping force should be adjusted based on measuring shear force variation. This control strategy would enhance the robustness in the robotic future operations.
Arduino Nano development board is chosen as the intelligent gripper control kernel. This control system contains homemade motor drive circuit, potentiometer, I^2 C multiplexer, FSR force sensor and capacitive shear sensor etc. The intelligent gripper's tactile force control is based on FSR and capacitive tactile sensor feedback. The fuzzy sliding mode control is employed to design clamping force, shear force and position controllers, respectively.
Robotic arm control architecture adopt ALTERA FPGA as control kernel. The Nios II development board use digital hardware circuits to achieve signal acquisition and output control function. FPGA digital hardware contain decoder, filter, PWM, I^2 C, IR and SDRAM controller etc. Nios II software contain user interface, kinematics formula, FSMC algorithm etc.

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