- 學位論文
應用模糊運動規劃法於多自由度機械臂之奇異點強健問題與避障任務
Singularity Robustness and Obstacle Avoidance for a Redundant Robot Using Fuzzy Motion Planning
摘要
近年來，機器手臂在工業上的應用與日俱增，隨著工作任務與環境複雜度的增加，因此，機器手臂必須具備更多自由度才能達成任務。本論文研究目的為設計並實現一台多自由度機器手臂(redundant robot)，其中，為了提升機器手臂部分的扭力，選擇AC伺服馬達搭配減速機來進行控制，同時為了減輕手端部分的重量，則是使用小型RX-64智慧馬達來控制手腕與DC直流馬達控制針對特定目標物設計之夾爪。 在數值模擬實驗中，利用B-Spline曲線進行機械手臂避障運動路徑規劃，求解逆向運動學使用結合廣義逆轉換與模糊反向運動映射的演算法，來解決奇異點強健之問題，從模擬實驗結果得知機器手臂可以有效地追蹤規劃之軌跡與進行避障任務。
並列摘要
The purpose of this study is to design a redundant robot, whose degree of freedom of the manipulator space is more than the degree of task space, has extra D.O.F. to meet other specification task and implement. For the design of robot, three servo motors with gear mechanisms are used to actuate the robot links. To reduce the end-effector’s weight for design requirement, the twist and grippers which are actuated by the smart motor RX-64. In addition, we use the B-Spline Curves method to obtain a trajectory with obstacle avoidance for the proposed robot and then the algorithm which combines with generalized inverse and fuzzy inverse mapping method is used to solve the inverse kinematics problem with singularities. The fuzz inverse mapping method has two advantages due to less computation and singularity robustness. The experimental results show that the robot can track the motion planning path with obstacle avoidance.