| Summary: | 碩士 === 淡江大學 === 電機工程學系碩士班 === 104 === In this thesis, a 7-DOF redundant robot manipulator system is developed and a null-space-based motion control method is proposed to enhance the flexibility, stability and efficiencyof motion control. It contains three main parts: (1) System architecture of robot manipulator, (2) Kinematics of 7-DOF redundant robot manipulator, and (3) Null-space-based motion control. In system architecture of robot manipulator, BLDC motors and Harmonic Driveare used to design and implement a 7-DOF robot manipulator. A CAN-Bus control structure is designedand implemented to let the motor control can be synchronization. In kinematics of 7-DOF redundant robot manipulator, due to the inverse kinematics exist infinitely many solutions for this redundant robot manipulator, a redundancy must be added to obtain only one solution. A method combined both joint position analysis and kinematics decoupling is proposed to obtain all joint positions. After that, inverse kinematics can be solved by a geometric analysis method. Moreover, on the issue of kinematic singularity, a low computational approach is proposed to avoid the singularity.In the null-space-based motion control, a two-stage search method and a multi-object fitnessfunction are proposed to find a redundant angle from the null space. The obtained optimal solution can lettherobot manipulator can simultaneously avoidjoint limit, avoid wrist and shoulder singularity, and reducetravel time. Moreover, the proposed method also let the joints be synchronic and the trajectory be stableduring the moving process of the robot manipulator.In the experiment results, some experiments of the laboratory-made 7-DOF redundant robot manipulator are presented.They illustrate the proposed null-space-based motion control method truly has a good control performance.
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