| Summary: | 碩士 === 國立成功大學 === 電機工程學系碩博士班 === 96 === This thesis mainly explores the motion control of a semi-humanoid robot arm. First, the hardware architecture and the mechanism of the 6-DOF (degree of freedom) semi-humanoid robot arm are described. The actuator of a robot arm is the six DC motors equipped with an optical encoder, and depending on the encoder, the angle of the rotation can be calculated to integrate the information of the encoders with a perception sensor system. The SOPC system is established to process the trajectory control algorithm. Second, given the position and posture, the joint angles of the rotary joints can be obtained by the geometrical inverse kinematics analysis. And then a fuzzy trajectory control algorithm, which consists of a trajectory tracking system and a fuzzy logic controller
(FLC), is proposed. Through the kinematical model, the angle in the robot coordinate frame can be turned into the absolute position in the world coordinate frame, and the errors of the position based on the kinematical model can be corrected. Based on the command generated from the fuzzy controller, the robot arm can achieve the goal. Finally, the experiment demonstrates the efficiency and feasibility of the proposed system.
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