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1、遠端五軸氣壓機械手臂控制之設計與製作南台科技大學電機工程系 指導教授：許毅然組員：吳炯男、許晉杰、卓耀加 影像伺服部分 網路監控部分 控制部分 無線PDA部分 機械手臂整體系統架構機構-五軸機械手臂控制器-工業電腦自製的驅動器控制部分YXZL30L1L2h0L311230手臂座標系初始化L1L2h0(X0 , Y0 , Z0)(X1 , Y1 , Z1)X00Y00Z0h012X1L1COS1COSY1L1COS1SINZ1L1SIN1h0第1軸與第2軸關節點座標2L2(X1 , Y1 , Z1)(X2 , Y2 , Z2)X2X1L2COS (12) COSY2Y1 L2COS (12) S
2、IN Z2 Z1 L2SIN (12) 第3軸關節點座標(X2 , Y2 , Z2)L30L31h1夾頭中心點位置X30X2L30XCOSL30YSINY30Y2 L30XSINL30YCOSZ30Z2h1CCD中心點位置X31 X2L31COS L31YSINY31 Y2 L31SIN L31YCOS1230夾頭與CCD中心點座標L1L2L30L31XY手臂臂長量測nLM628是一顆專為直流或直流無刷伺服馬達所設計的位置控制處理器，且可運用在提供正交增量位置回授信號之伺服機器。機械手臂控制器機械手臂控制器手臂驅動電路機械手臂驅動卡使用UPMOST UPG301BT影像擷取卡使用黑白CCD攝影
3、機影像擷取卡與CCD攝影機4mm CCD8mm CCD6mm CCDYXCCD攝影機選用XYCCD影像識別法則XY12 34ABCCD影像識別法則XY0XYC0（XA , YA）（X31 , Y31）（XC , YC）CCD座標轉換到卡氏座標(XCP , YCP)(XA , YA)(120 , 160)XY20CM27CMrC（240 , 320）（0 , 0）C XC（XCP120）/ 240 YC（YCP160）/ 320C （YC / XC） rC XAX31rC COS（C0） YAY31rC SIN（C0） CCD影像格式：240 X 320 (像素) 當1 2 時 CCD可視範圍：
4、20 X 27（CM）CCD與手臂座標系轉換X夾 XA L1COS1 L2COS（12） L31 COSY夾 YA L1COS1 L2COS (12) SIN Z夾 0 Z2 h1 L1SIN1 L2SIN（ 12 ） h0 h1 XA、YA在機械手臂可移動範圍內，可以找到兩組、1、2 。 令1 0 則可得到唯一解。夾頭位置的決定XY夾頭夾取物體最長邊。由M1M4點可以 決定最長邊夾角。夾頭夾角 4A（XM1 , YM1）（XM2 , YM2）（XM4 , YM4）（XM3 , YM3）（XA , YA）夾頭夾角的決定VB之動態連結檔Net_class . cls第一層第二層第三層Server
5、端Client端機械手臂三層式架構Server端機械手臂RS-232PDA無線PDA部分Server & Client端操作監控介面PDA端操作監控介面敬 請 指 教END*brHX3jzP*bqGW2iyO&aqGW2hxN%9pFV1hxN$8oEU0gwM$8oET+fvL!7nDT+fuK#6mCS-euK#6lBR)dtJZ5lBR(csIY4kAQ(csIX3jzP*brHX3jyO&aqGW2iyO&apFV1hxN%9pFV0gwM$8oEU0gwL!7nDT+fvL!7nCS-euK#6mCS-dtJZ5lBR)dtJZ4kAQ(csIY4kAP*brHX3jzP*brGW2
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