基於嵌入式系統的六軸機械手臂 運動模式開發探討

Abstract

本研究旨在設計並開發一款基於嵌入式系統 Nuvoton m467 的六軸機械手臂，並應用逆運動學技術以實現精確的運動控制。透過 Nuvoton m467 的高效能運算能力與靈活性，結合六軸機械手臂的多自由度特性，本研究期望提升機械手臂在工業自動化、精密操作等領域的應用效能。 依據需求，我們分析並結合本課程的相關知識，包括機器人學中的運動學與動力學理論，對機械手臂進行軌跡規劃與逆運動學解算開發。此外，透過課程中學習的硬體選型與嵌入式系統實作，完成了 I2C 通訊與 C 語言編程的實際應用。研究過程涵蓋系統設計、硬體挑選、軟體開發與實驗驗證，最終實現了一款能夠完成複雜任務的機械手臂原型。本研究的成果不僅結合課程理論與實務操作，還為未來機械手臂的開發提供有價值的參考。

This study aims to design and develop a six-axis robotic arm based on the Nuvoton M467 embedded system, applying inverse kinematics technology to achieve precise motion control. By leveraging the high computational performance and flexibility of the Nuvoton M467, combined with the multi-degree-of-freedom characteristics of the six-axis robotic arm, this research seeks to enhance the application efficiency of robotic arms in industrial automation and precision operations. According to project requirements, we analyzed and integrated relevant knowledge from this course, including kinematics and dynamics theories in robotics, to develop trajectory planning and inverse kinematics solutions for the robotic arm. Additionally, through hardware selection and embedded system implementation learned in the course, we successfully applied I2C communication and C language programming. The research process encompasses system design, hardware selection, software development, and experimental validation, ultimately realizing a robotic arm prototype capable of performing complex tasks. This study not only integrates theoretical knowledge with practical applications but also provides valuable references for the future development of robotic arms.