Mechanical Design and Control of the Humanoid Robot Arm
Date Issued
2006
Date
2006
Author(s)
Lin, Hung-Ta
DOI
en-US
Abstract
No doubt, robots have become more and more popular, and therefore, almost every technique on this area has already ripen up to now. Despite the fact that, the research of the humanoid robot has developed over more than ten years in Japan, currently only a few researchers in Taiwan devote themselves in this field. Hence, we should catch up quickly.
The main purpose of this thesis focused on the mechanical design and control of the humanoid robot arm. The humanoid robot arm in question is about 150 to 160 centimeters in length, resembling a real human’s arm, with seven degrees of freedom. In control system, it is focused on the control hardware especially. In order to achieve the real-time multi-joint control, on-line algorithms are used.
The discussions are divided into four parts: mechanical design of the arm, kinematics and dynamic analysis, trajectory planning, and hardware system control. In mechanical design, the CATIA software is used to design the mechanism, and ADAMS software is used to calculate and prove the motor torque and max speed and then finally verify the experimental result. As for the control system, we utilize the DSP (Digital Signal Processor) and FPGA (Field Programmable Gate Array) to do the motor control, and by connecting it to PC, and Matlab software to write high level algorithms, such as trajectory planning. In addition, the problem of redundant control to avoiding the joint angle limit, singularity, and obstacle will be discussed so that the robot arm will follow our instruction accurately. The FSR (Force Sensing Resistor) will be attached to the gripper, and it can grab objects sensitively.
Subjects
機器手臂
多軸控制
機構設計
robot arm
multi joint control
mechanical design
Type
thesis
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