| Summary: | 碩士 === 中華大學 === 機械工程學系碩士班 === 100 === The purpose of this paper is to design a multifunction robot. The motion control system with automatic collision avoiding function is designed. Next, a ultra-red rays locating position system is applied to find the robot position. Thereafter, the obtained data can be applied to find the distance and direction of the destination, to do the robot path planning, or to lead the roaming robot to the destination.
A designed robot arm is affixed to the robot. The inverse kinematic analysis for multi-axis is applied to the robot arm to find the moving path of the robot. A decentralized control unit can control each motor of the robot arm, so that the robot arm movement can be controlled to the assigned position. The friendly computer interface design is also a significant part in the paper, so the commands or the assigned numbers can be input to the interface to control the robot. The image transmission program is used and the robot remote control is obtained.
Keyworks： Robot , Robot arm control system , Locating position
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