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題 名 | AutoCAD介面平臺於機械手臂之可操控性避障路徑規劃與應用=Path Planning and Application for the Obstacle-Avoidance Manipulability of Robot by Using AutoCAD Interface Platform |
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作 者 | 洪永銘; 蔡明勳; | 書刊名 | 南臺科技大學學報 |
卷 期 | 27 2002.12[民91.12] |
頁 次 | 頁99-116 |
分類號 | 448.94 |
關鍵詞 | 機械手臂; 障礙物; 路徑規劃; Robot; AutoCAD; VBA; Obstacle avoidance; Path planning; |
語 文 | 中文(Chinese) |
中文摘要 | 傳統式機械手臂之路徑規劃力法,大部份均以人工教導式的操作方法來作路徑規劃,但在複雜的工作狀態下教導盒便有無法應付的問題產生,為了讓使用人員更容易操作方便,並提供有效率之安全可操控運動路徑,本研究係以電腦輔助設計軟體 AutoCAD2002 版本為介面,以內建之VBA及AutoLisp程式語言之基礎,並搭配三菱公司所出產之RV-E2型六軸式機械手臂,研發撰寫出一套介面軟體讓使用者可在AutoCAD下之任意UCS(Uset Coordinate system)平面上,輸入障礙物之座標和形狀,以及路徑之起點和終點,以發展出一套避障的方法,其方法是藉由可操控性理論將機械手臂之操控能力量化,並且用動態規劃理論搜尋較佳操控性之3D避障路徑,而自動找出較佳之可操控性路徑,使研發出的軟體能操控機械手臂避開障礙物。實驗結果顯示,本方法確實能改良文獻[4]所提出之避障方法,已經可以達到完全三維空間操控的目的,並讓機械手臂獲得較穩定的運動效果。 |
英文摘要 | This research adopted AutoCAD 2002 as the interface platform in which AutoCAD commands and functions supported by VBA and Auto Lisp programming were used. A 2D obstacle-avoidance path was first determined. By using the manipulability index theory, this path was then transformed into coordinate system mode in which manipulability index was shown for each coordinate point. Finally, Dynamic Programming was applied in order to figure out the manipulability index of valid coordinates. All the proposed paths were evaluated in terms of their corresponding manipulability values, and thereafter, the best manipulable 3D obstacle- avoidance path could be defined. As proven in the experiment, this approach, indeed, can improve the obstacle-avoidance path determination method proposed in the precious report[4] and attain 3D manipulability and thereby facilitate more stable motion effect on the robot. |
本系統中英文摘要資訊取自各篇刊載內容。