傅立成Fu, Li-Chen臺灣大學:電機工程學研究所陳柏男Chen, Po-NanPo-NanChen2010-07-012018-07-062010-07-012018-07-062009U0001-0608200916102000http://ntur.lib.ntu.edu.tw//handle/246246/188056當機器人從與世隔絕的工業與軍事應用走向人類社會，如何與人類進行友善的互動便顯的相當重要。人機互動的領域之中，使用機械手臂表達機器人的情緒並與人類溝通是一個十分重要且基本的方式。而人類與機器人之間使用機械手臂直接達成靈活的互動，並展現有效率的合作也是一個重要範疇。為上述的理由，我們設計並製作了一雙靈巧且輕量的機械手臂ACL-II裝置於機器人Julia身上。有了這雙手臂，機器人便可以產生手勢來表達情感，甚至可以協助人類的日常生活。這篇論文裡，我們將會介紹這雙手臂的機構設計，運動學，動力學，以及運動控制。除此之外，我們將會展示機器人與人類之間，直接且有效率的傳遞物品。過這樣的人機互動，人類和機器人都可以輕易的透過自身的能力達成任務。As robots enter the human society form the cloisters of industrial and military applications, it will be important for them to interact with human beings friendly. In human-robot interaction, one of the fundamental ways to communicate and express emotions is using arm’s pose, and another to coordinate activity and cooperatively perform useful work is to use robotic arms directly working with the others.or this reason, we design and physically build a pair of dexterous and light-weight robotic arms, called ACL-II, which are mounted on the robot “Julia”, a home service robot built by our laboratory earlier. With the arm, the robot will be able to generate emotional gestures and even assist a person in everyday tasks. This thesis starts with mechanism design, kinematics and dynamics analysis, and then ends by developing motion control of this arm. Moreover, we demonstrate the efficacy of our design by physical building of the arms and real experiment with applying the arm to handing objects to humans. Through this interaction, human and robot can easily accomplish the tasks together.Abstract ...............................iihapter 1 Introduction ..................1.1 Motivation ..........................2.2 Related Works .......................4.3 Thesis Organization ................14.4 Contribution .......................15hapter 2 Preliminary ..................17.1 Human-Robot Interaction ............18.2 Interaction by Robotic Arm .........21.3 Problems to solve ..................23hapter 3 Building Structure ...........26.1 Overview ...........................27.2 Arm Design .........................30.3 Hand Design ........................33.3.1 Design Description ...............34.3.2 Design Optimization...............35hapter 4 Kinematics and Dynamics ......42.1 Manipulator Kinematics .............42.2 Inverse Kinematics .................50.3 Dynamics ...........................52.4 Control System .....................56hapter 5 Handing Objects to Humans ....57.1 Experiment Setup ...................57.2 Handing Objects to Humans ..........59.3 Picking Object and Placing It ......61.4 Discussions ........................62hapter 6 Conclusions ..................63.1 Discussions ........................63.2 Future Works .......................64eference...............................662843456 bytesapplication/pdfen-US機械手臂人機互動運動學動力學運動控制Robotic ArmHuman-Robot InteractionkinematicsDynamicsMotion Controlthesishttp://ntur.lib.ntu.edu.tw/bitstream/246246/188056/1/ntu-98-J96921015-1.pdf