多軸機械手臂平台開發與控制

Abstract

本論文的主要目的，是設計一個可供多軸機械手臂使用的控制平台以達到模組化與容易建立的目的。並針對擬人型機械手臂開發一高階手臂控制器。配合適當的演算法來達成機械手臂的動作。控制平台部份，本論文提出兩種手臂控制平台。第一種是針對高階手臂控制器的實現，第二種是針對即時軌跡規劃系統的實現兩種平台均具有容易架設與模組化的特點。高階手臂控制器部分，藉由探討多軸手臂運動的特性，提出一針對擬人型手臂的控制方法。考慮到多軸軌跡追蹤的關係，能對各軸運動做出及時的修正與補償。相對於傳統單軸控制法，此種方法可使機械手臂空間位置的精確度提升。實際硬體上，兩個平台分別使用sbRIO 9642 與MCDC 3006S單軸控制器實現手臂控制。實驗結果証實此兩種手臂控制平台可達到論文所設定的目標。

The main purpose of this thesis is to design a platform for a robot arm that is easy to construct and modulize, and to design a multi-axis controller for a humanoid robot arm. For the platform structures, this thesis developed two types of platforms. One is designed to test the controller, where the other is designed to test the planner. These two platforms are easy to construct and modulize.n the control algorithm design, this thesis analyzed the multi-axis motion system and purposed a control strategy for the humanoid robot arm. By analyzing the relationship between the multi-axis systems, the author can apply a controller to compensate for each axis in real-time. In comparison to a conventional controller, the controller the author proposed can provide better tracking results for a multi-axis robot arm in task space. For the integration of these two platforms, the author employed sbRIO 9642 and MCDC 3006S motor controllers. The experimental results show that the two platforms can meet the requirements.