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    Please use this identifier to cite or link to this item: http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/103093


    Title: 視覺伺服控制機械手臂系統-總計畫兼子計畫一:六軸垂直關節型機械手臂機構與運動控制卡之設計與實現(I)
    Other Titles: Design and Implementation of Mechanism and Motion Control Card for 6-Axis Vertical Articulated Robot Manipulator
    Authors: 翁慶昌
    Contributors: 淡江大學電機工程學系
    Keywords: 機械手臂;垂直關節型;運動控制卡;數位座標旋轉計算機;安全行為策略;Robot Manipulator;Vertical Articulated;Motion Control Card;Coordinate Rotation Digital Computer (CORDIC);Safe Behavior Strategy
    Date: 2012-08
    Issue Date: 2015-05-18 16:06:55 (UTC+8)
    Abstract: 本計畫之主要目的在於設計實現兩台具有工業等級的六軸垂直關節型機械手臂 (Vertical Articulated Robot Manipulator)與應用於六軸機械手臂之運動控制卡(Motion Control Card),主要有四個研究子題:(1) 機械手臂與夾爪之機構設計、(2) 機械手臂 之數學模型實現、(3) 數位座標旋轉計算機CORDIC (Coordinate Rotation Digital Computer)與安全行為實現、以及(4) 運動控制卡硬體介面實現。本計畫為兩年期的計 畫,其規劃概述如下: 第一年,本計畫擬設計實現一台六軸垂直關節型的機械手臂機構,並開發實現以 FPGA 為基礎之六軸機械手臂的運動控制卡,使機械手臂具備夾取物品與精準移動的 能力。在子題一之機械手臂的結構分析與機構實現上,本計畫擬探討如何有效的分析 與實現一台六軸垂直關節型機械手臂的機構。在子題二之正逆運動學模型的實現上, 本計畫擬探討如何有效的將正運動學(Direct Kinematics)、逆運動學(Inverse Kinematics) 以及微分運動學(Differential Kinematics)的數學模型實現在FPGA 晶片上。在子題三之 數位座標旋轉計算機(CORDIC)實現上,本計畫擬探討如何有效的將CORDIC 的疊代運 算式與數學函數功能實現在FPGA 晶片上。在子題四之運動控制卡的訊號通訊介面設 計上,本計畫擬探討如何有效的將PCI (Personal Computer Interface)匯流排傳輸與 SPWM (Sinusoidal Pulse Width Modulation)介面實現在運動控制卡上。 第二年,本計畫擬設計實現兩台六軸垂直關節型機械手臂與各式夾爪的機構,並 且將第一年之設計與實現經驗應用於第二台機械手臂的開發,使機械手臂具備更快速 與精準的移動。在子題一之機械手臂以及各式夾爪的設計與實現上,本計畫擬探討如 何有效的提升機械手臂的重現精度以及設計機械手臂的各式夾爪。在子題二之動力學 (Dynamics)模型實現上,本計畫擬探討如何有效的實現動能及位能計算與拉格朗日 (Lagrange)平衡法。在子題三之安全行為策略設計上,本計畫擬探討手臂待命狀態與手 臂運動狀態。在子題四之運動控制卡的週邊傳輸電路設計上,本計畫擬探討如何有效 的將RS-232 介面、I2C 介面以及Ethernet 傳輸實現在運動控制卡上。
    The main purpose of this project is to design and implement two 6-axis industrial vertical articulated robot manipulators and motion control cards. There are four topics: (1) Mechanism design of robot manipulator and gripper, (2) Implementation of mathematical models for robot manipulator, (3) CORDIC (Coordinate Rotation Digital Computer) and safe behavior implementation, and (4) Hardware interface implementation of the motion control card. This project is organized two years. They are described as follows: In the first year, this project is to design and implement a 6-axis vertical articulated robot manipulator and development a FPGA-based motion control card . The robot manipulator will have the abilities to grip objects and move with precision. In the first sub-topic of the structure analysis and mechanical implementation of the robot manipulator, this project will discuss how to analyze and realize a 6-axis vertical articulated robot manipulator effectively. In the second sub-topic of the implementation of direct/inverse mathematical model, this project will discuss how to implement the direct, inverse, and differential kinematics circuit on a FPGA chip. In the third sub-topic of the implementation of CORDIC, this project will discuss how to implement the CORDIC and mathematic functions circuit on a FPGA chip. In the fourth sub-topic of design of the signal communication interface of the motion control card, this project will discuss how to realize PCI (Personal Computer Interface) bus and SPWM (Sinusoidal Pulse Width Modulation) interface on the motion control card. In the second year, this project is to design and implement two 6-axis industrial vertical articulated robot manipulators and four kinds of grippers. Based on the experience of the first year in the design and implementation of the robot manipulator, the second robot manipulator will have the abilities of fast and precision movement. In the first sub-topic of the implementation of the robot manipulator and four grippers for this robot manipulator, this project will discuss how to upgrade the repeatability of robot manipulator, realize the second robot manipulator, and implement four grippers. In the second sub-topic of the implementation of dynamic model, this project will discuss how to calculate kinetic and potential energy to complete Lagrange balance theory. In the third sub-topic of the safe behavior strategy, this project will discuss how to classify standby mode and motion mode. In the fourth sub-topic of design of motion control card periphery transmission circuit, this project will discuss how to realize RS-232 interface, I2C interface, and Ethernet transmission on the motion control card.
    Appears in Collections:[電機工程學系暨研究所] 研究報告

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