| Summary: | 碩士 === 高苑科技大學 === 資訊科技應用研究所 === 105 === In this thesis, optimization methods are used to solve the problem of optimal configuration of multi-degree-of-freedom manipulator in a series of machining points. Because the operating space of the manipulator is the joint space, and the machining point is usually specified in the Cartesian coordinate system, the correspondence between the two spaces is not linear, so it is relatively difficult. Therefore, the evolutionary computation method is used as the solution. Because the particle swarm optimization (PSO) method is relatively simple, easy to be implemented and convergent faster than other evolutionary methods, therefore, the PSO method is first used to compute the inverse joint values of the given machining points; then, with the commercial game engine Unity, the visualization of the overall processing process is given. This flow will be a good reference for industrial automation and concretization.
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