| Summary: | 碩士 === 國立臺北科技大學 === 製造科技研究所 === 90 === This paper provides an operating software, which served as a connection between the computer and Mitsubishi RV-E2 robot by using AutoCAD 2000 and VBA as programming tools, users only need to input the obstacle condition (include its shape and position) and the starting and ending points, this program will automatically find an optimum path to avoid the obstacle and reach the ending point at a shortest time.
By using VBA, AutoCAD programming tools as an interface platform, the obstacle profile, position, the starting and ending points of the tracking path can be provided. This program will first find path to avoid the obstacle for the 2D condition and then transform to 3D condition by using projective concept. After the obstacle avoidance path planning work had finished, the forward and inverse kinematics equations for driving the RV-E2 Robot are solved. This program could feedback the data of robot real moving position thru RS-232 and draw it on the AutoCAD screen.
Traditionally, equidistance grid method is used to find the obstacle avoidance tracking path. However, this method encounters huge memory problem and need a lot of computational capacity. In compare to the traditional method, this program is more convenient and easy to operate. It can be proved this program is an effective and useful tool for finding obstacle avoidance tracking path.
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