三軸機械手臂運動控制與實踐

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Title:	三軸機械手臂運動控制與實踐 Motion Control and Implementation of Three – Joint Manipulator
Authors:	吳孟璋
Contributors:	機械工程學系數位機電碩士班
Keywords:	機構機械手臂順向運動學逆向運動學 MATLAB Arduino控制板取物任務 mechanism mechanical arm design forward kinematics inverse kinematics Arduino board
Date:	2018
Issue Date:	2018-05-03 11:14:33 (UTC+8)
Abstract:	本文探討機械手臂設計、控制、及實作的綜合議題。首先依據規劃的工作空間來設計手臂長度，接著以電腦軟體MATLAB搭配順向、逆向運動學做模擬，以確認所設計手臂長度是否正確。接著進行手臂製作，本文採用平移式兩軸機械手臂，主要架構為兩隻手臂、夾爪、兩顆直流伺服馬達以及基座，控制器則採用Arduino電路板。實驗進行中先以逆向運動學計算關節馬達規劃軌跡，再以強健控制方式進行定位控制，取放物品。過程中將軌跡追蹤數據傳到電腦做分析比對，完成控制設計與實踐。實驗結果顯示，本文所設計、製作的機械手臂，在製作成本相較商業機械手臂大幅降低情況下，實際的追跡效果與取拿任務的執行結果並不遜色令人滿意。 This article investigates issues of fabrication, control, and implementation of two-arm manipulators. First, the work space of the manipulator is used to decide its geometric sizes. Next, according to the forward/inverse kinematics, MATLAB program is written to verify the above design in terms of the consistence of workspace. After that, a horizontal two-arm manipulator is built. It mainly consists of two hard plastic arms, two DC servo motors, and the base. The control algorithm is implemented on an Arduino board. In the experiment, the planned joint trajectories are first calculated based on the inverse kinematics. The robust control algorithm is implemented for the position control of the manipulator. Meanwhile, the experimental data are transmitted to the desktop for the real-time analysis. The real tracking accuracy is satisfactory, especially considering its significantly low cost comparing to a commercial manipulator.
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