基於B-Spline曲線之六軸機械手臂繪圖系統

Drawing System for Six-axis Robot Manipulator Based on B-Spline Curves

沈宜郡(Yi-Jiun Shen)

指導教授 ： 翁慶昌

淡江大學/工學院/電機工程學系碩士班/碩士(2013年)

https://doi.org/10.6846/TKU.2013.00955

摘要

本論文依據B-Spline曲線演算法來設計實現一個六軸機械手臂繪圖系統，讓使用者可以快速有效的設計一些圓滑曲線來符合一個想要描繪的圖形，並且讓ABB IRB 120六軸機械手臂實際的描繪出這個圖形。由於B-Spline曲線演算法只需少量的控制點即可以產生曲線，並且可以任意更改部分區域的曲線形狀，所以本論文以B-Spline曲線演算法來建構這個繪圖系統。本論文先以MATLAB軟體設計一個可以在個人電腦上操作的軟體平台，讓使用者可以在這個軟體平台上，依照所要繪製的圖形來新增或移動控制點。當使用者依據B-Spline曲線演算法來設計出一個滿意的曲線時，就可以在這個平台上找出這些控制點的位置座標。然後在ABB的教導器Flex Pendant上輸入這些控制點的位置座標，本論文是以矩陣式B-Spline曲線演算法來執行曲線的繪製工作，讓六軸機械手臂可以繪製出與使用者在軟體平台上所設計的圖形曲線。在與傳統之點到點方式和ABB機械手臂內建之圓弧軌跡方式的功能比較上，從實驗結果可知，本論文所實現的機械手臂繪圖系統確實可以快速有效的讓機械手臂描繪出想要的圖形。此外，一些座標轉換公式用來讓機械手臂可以將圖案繪製在一個指定的3D曲面上。

關鍵字

繪圖系統 ； 機械手臂 ； 運動學 ； B-Spline曲線

並列摘要

In this thesis, a drawing system for a six-axis robot manipulator based on the B-Spline curves algorithm is designed and implemented. It can let the users can quickly and effectively design a required smooth curve to fit the desired graph and a six-axis robot manipulator named ABB IRB 120 can really draw this graph. Because the B-Spline curves algorithm just utilize few control points to generate curves and can arbitrarily change the local shape of the curve, the drawing system based on the B-Spline curves algorithm is constructed. First, a software platform used on PC is designed with MATLAB so that the users can add or move control points to let the curves meet the desired graph. When the user determines some satisfied curves based on the B-Spline curves algorithm, the position coordinates of control points can be obtained from the software platform. Then the position information of control points is the input data of the Flex Pendant of the ABB, where the matrix B- Spline curves algorithm is used to let the six-axis robot manipulator to accomplish the curve drawing work and the plotted graph is the same as that designed by the user on the software platform. In comparison with the traditional point-to-point method and the inherent circular movement method of the ABB robot manipulator, the drawing system built in this thesis can indeed quickly and efficiently let the robot manipulator draw the desired graph. Moreover, some coordinate transformation formula are used to let the graph can be plotted on a specified 3D surface.

並列關鍵字

Drawing System ； Robot Manipulator ； Kinematics ； B-Spline Curves

參考文獻

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