| Summary: | 碩士 === 國立勤益科技大學 === 電子工程系 === 105 === The main purpose of this paper is to develop a set of six-joint robot manipulator. It contains six degrees of freedom and drives the servo motors with a PC. The basic requirements of the robotic arm speed, repeat accuracy, work scope and load weight etc. First, the research describes the architecture design, and introduces the servo circuit for servo motor driving. Second, it presents the derivation of kinematic analysis. The derivation is divided to two parts, the forward and inverse kinematics. The forward kinematics makes the matrices with the positions between the links and the coordinate system of each joint, and then derives each joint angle based on the direction from the coordinate of ground towards this of end. On the other hand, the inverse kinematics derives back the matrices derived by the forward kinematics to verify the known joint angles as well as to catch the attitudes of the robot manipulator. Finally, the attitudes and motion curves of the robot manipulator are controlled completely through the calculations of Matlab and the communications with trajectory of the path movement between the software and hardware.
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