冗餘機械手臂之運動控制最佳化

本論文之主要目的在於設計與實現一個冗餘機械手臂的運動控制最佳化，讓機械手臂可以透過運動控制最佳化的方式迴避關節極限，增加機械手臂穩定性。本論文主要有二個部分：(1)冗餘機械手臂以及(2)運動控制最佳化。在冗餘機械手臂上，本論文使用Dynamixel PRO系列的馬達，其具有體積小，輸出比高的特性，因此適合使用在非工業用型的手臂上。此外，為了讓機械手臂能夠具有更大的活動空間，在連桿配置方面，本論文採用偏軸方式設計機械手臂的連桿機構。在運動控制最佳化上，本論文提出一個藉由自行設計的關節極限程度評估函數來計算各關節的極限程度後給予分數高低，再將三種狀態的冗餘角度變化量分別代入關節極限程度評估函數，從中選取分數最高的狀態作為下一刻的冗餘角度變化量，藉此達到迴避關節極限的目的。在實驗結果上，使用模擬的曲線圖來呈現使用與未使用運動控制最佳化的情況下各關節的角度，經過曲線圖的比較來證實機械手臂在使用此迴避關節極限函數及冗餘角度變化量的運動控制最佳化下確實可以增進手臂運行時的穩定性。

關鍵字

冗餘機械手臂；零空間；軌跡規劃；迴避關節極限；運動控制最佳化

並列摘要

The main purpose of this thesis is to design and implement a motion control optimization of a redundant robot manipulator, and let robot manipulator to avoid the joint limit to increase the stability of the robot manipulator by motion control optimization. There are two main parts: (1) redundant robot manipulator and (2) motion control optimization. In the redundant robot manipulator, this thesis uses the motors of Dynamixel PRO series, which have a small size and high output ratio, so that they are suitable for using on non-industrial manipulators. In addition, in order to let the robot manipulator have a larger motion space, in the aspect of the link configuration, this thesis uses the off-axis method to design the linkage mechanism of the robot manipulator. In the motion control optimization, this thesis uses the self-designed joint limit degree evaluation function to give a reward by calculating the limit degree of each joint, and put the redundant angle change amount of three states into the joint limit degree evaluation function. The state with the highest reward is selected as the redundant angle change amount of the next moment, thereby achieving the purpose of avoiding the joint limit. In the results of the experiment, the simulated graph is used to present the angles of the joints in the case of using or not of the motion control optimization. Through the comparison of the graphs, it is confirmed that it is indeed to improve the stability of motion for robot manipulator when using the avoidance joint limit function and the motion control optimization of redundant angle change amount.