Cooperative Application of the 6-Axes Robots

• Main Authors: Chiu Yen Yu, 邱燕玉
• Other Authors: Huang Hsing Hsin
• Format: Others
• Language: zh-TW
• Published: 2014
• Online Access: http://ndltd.ncl.edu.tw/handle/90991416264994536505

碩士 === 明新科技大學 === 精密機電工程研究所 === 102 === The purpose of this research is to build a real-time multiple control platform for the 6-axes robots designed by Industrial Technology Research Institute (ITRI). The research uses the dynamic link library (DLL) provided by ITRI to build a Labview control software, and uses this software to control multiple robots to play different string instruments. The first method of this research is to design the motion trajectories for the robot to play a string instrument. The robot needs to grip a bow to rub on the strings in accordance with the preset trajectory. The most difficult part is to connect different trajectories with smooth curves and to prevent a pause between the play. The research also designs a music playing platform, which is able to analyze the stability and reliability of the control system. After many times of verification and adjustment, the research has accomplished the construction of the real time multiple control platform. The main achievement is that the platform can play violin and cello simultaneously, and can perform many beautiful music.