本論文提出一個三維模型之軌跡建構的方法，並且實際應用在六軸機械手臂上。首先依據三維模型的點資訊以及點密度來進行點資訊的分層，然後用邊緣遮罩方法來找出邊緣點以及Hermite曲線方法來決定一些擬合點，最後建構出這個三維模型之點資訊所相對應的軌跡。在模擬測試上，本論文先以一個單一層面的分層點資訊來做模擬測試，並且分別以點資訊的密度、有無使用Hermite曲線方法、以及擬合點數目的多寡等項目來做分析比較。從結果可知，本論文所提出的方法確實可以達到更圓滑的軌跡效果。在MATLAB的模擬上，本論文以D-H連桿表、正向運動學以及逆向運動學來實現一個六軸機械手臂的虛擬環境，並且在這個虛擬環境上，使用本論文所提出的方法來模擬一個圓錐體的繪製，證明所提之方法確實是可行的。在實際測試的部分，本論文以自行開發之六軸機械手臂繪製一個結果來證明本論文所提出的方法。 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.
