動作指令之簡化與動作精確度取捨之研究

Abstract

人類的快速運動具有動作準確度不高而能達成動作目的的特殊特徵。 在本篇論文中，我們根據 human motor control 和 motor program 提出 簡化的架構來探討動作指令之簡化與動作精確度之間的取捨，並且利用平 衡點為動作指令。在本文中，我們以簽名為例,因為簽名是屬於人類快速 運動的一種。我們所提的兩個簡化的架構分別為時間簡化架構及空間簡化 架構，模擬及實驗的結果驗證了我們所提的架構應用於機器人運動控制是 可行的。 A special characteristic of human fast movements is that human beings can achieve the goal of the motion but the demand on movement accuracy is not very high.In this thesis, we propose two simplification schemes based on the concept of the human motor control and the motor program to explore the trade-off betweenthe motion command simplification and movement accuracy. The equilibrium-point hypothesis is used to implement the motor program. Signature is taken as an example because signature is one of fast human movements. These two simplification schemes are temporal simplification scheme and spacial simplification scheme. Simulation and experiment results demonstrate the capability of the proposed schemes in robot fast movement control.