| Summary: | 碩士 === 淡江大學 === 電機工程學系碩士班 === 104 === In this thesis, a trajectory construction method with a three-dimensional model is proposed and actually applied in a laboratory-developed six-axis robot manipulator. First, based on the information point and point-density in a three-dimensional model to stratify the point information. Then an edge mask is applied to find the edge points and the Hermite curve is used to decide some fit points. Finally, a corresponding trajectory is constructed for this considered point information. In the simulation test, points in a single hierarchical level are first used to do the simulation test. The point density, with or without using the Hermite curve method, and the amount of fitting points are respectively used to do the analysis and comparison. From the simulation results, the proposed method can indeed effectively achieve a smoother trajectory. In the simulation of MATLAB, a D-H link table, forward kinematics, and inverse kinematics are considered to construct a virtual environment of this six-axis robot manipulator. And in the virtual environment, a simulation result of a cone drawing by using the proposed method is presented to prove the proposed method is indeed feasible. In the actual test, the proposed method is applied to let this laboratory-developed six-axis robot manipulator can draw the desired results.
|
|---|
