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標題Title: Forward/Inverse Kinematics Study for Five-Axis Modular Robot
作者Authors: 陳禹達
上傳單位Department: 電機工程系
上傳時間Date: 2014-12-3
上傳者Author: 陳禹達
審核單位Department: 電機工程系
審核老師Teacher: 謝銘原
檔案類型Categories: 課堂報告In-class Report
關鍵詞Keyword: modular robot arm,forward/inverse kinematics, motion trajectory.
摘要Abstract: A motion control of five-axis modular robot arm
using forward/inverse kinematics is studied in this paper.
Firstly, the architecture of five-axis modular robotics arm is
described and the formulation of kinematics/inverse
kinematics for this robot is derived. Secondly, VB in PC is used
to develop the code of the kinematics/inverse kinematics and
generate the motion command for five-axis modular robot arm.
The communication between PC and modular robot is through
CAN bus system. Thirdly, the PTP (point-to-point), linear
motion trajectory and circular motion trajectory are
investigated. Finally, a system included by a five-axis modular
robotics and a PC is applied and some experimental results are
done to demonstrate the correctness and effectiveness of the
proposed forward/inverse kinematics for modular robot arm.

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