| Summary: | 碩士 === 國立臺灣科技大學 === 工程技術研究所 === 81 === The main purpose of this study is to develope the system of
biped locomotion robot . Mechanism of the biped robot is
designed to have 10 degree of freedom , 6 degree of freedom in
the sagital plan , 4 degree of freedom in the lateral plan. The
electrical devices of this system are DC servo moter , PWM
amplify , A/D card , D/A card , potentiometer ,...,etc .
Controller of this system is 486 personal computer . In the
software , Assembly language and C language are utilized to
develop control program , trajectory planing program and
trajectory analysis program . Link coordinate frame and link
parameters are defined by the method of link parameters .
Transformation matrix are utilized to analyse the trajectory of
mass center of robot . Dynamic equations of each link are
derived by Newton-Euler law with coordinate transformation .
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