| Summary: | 碩士 === 國立高雄應用科技大學 === 機械與精密工程研究所 === 100 === This proposal is focused on the hardware implementation and servo system development of the articulated robot arm. The main purpose is to be applied to the automatic handling of objects and images automatically follow the position. Generally used for Transfer or removal of the manipulator, link of each workstation, most of them installation ball screw so that the arm can be quickly moved horizontally, and with a reducer to increase the output torque, however, in this way the cost of structure is expensive, so this article will focus on the horizontal movement of the institutions and their weight improvement, use low-cost materials for the structural design, and change the configuration of the weight of mechanism designed to reduce the rotational torque needed and improved the horizontal movement of mechanism so that the cost can be decreased and the robot can move faster and stability. On the other hand, most of the robotic arm installed sensors to confirm the position, however the cost will be raise because of installing too many sensors, so this article using CCD to Recognize objects and check the position of objects. We expect using image recognition to checking the position of objects instead of installation other sensors.
In the experiment, this article will use the P controller with encoder and CCD to locate position, and adjusting the gain of P controller, we can observe the difference between the curve of each axis in motion and the step response, and controlling the robot to moving to the target point and steady state error reduced to the target value, by the above experiments, we can observe the difference between the trajectory of robot and the condition expected of robot, and then we can improve it.
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