| Summary: | 碩士 === 大葉大學 === 機械工程研究所碩士在職專班 === 93 === The goal of this paper is to design a 2 d.o.f. planar robot, to research its motion planning problem and to realize the Computer Integrated Control System of the robot. It consists of the motion-planning module, motion-simulation module, G-code compiler module and motion control module. These modules of the CIC system are coded in Visual Basic Language and realized by the designed planar robot.
On the other hand, the inverse kinematics problem of robot has historically been solved by using the generalized inverse method; however, it can’t be used when the robot is located at the singular points. It due to the Jacobin matrices will lose rank and the inverse matrix can’t be obtained by the generalized inverse method. In this paper, the singular problems are also discussed and been solved by the optimal perturbation method and the geometric-relation based method.
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