摘 要 本文旨在探討具七個自由度擬人型機械手臂之設計與控制問題。首先利用電腦輔 助設計軟體完成擬人型機械手臂之整體機械設計，並提出一獨立關節型式之順滑模態 控制法則，以完成機械手臂之運動控制。而在系統之動態模擬上，由於多自由度機械 手臂之閉合式動力學模式非常複雜且不易推導，而為克服此困難，本文提出一種動態 模擬演算法，此演算法不需要機械手臂之閉合式動力學模式，只需要遞迴式計算扭矩 技術就可完成有效率的動態模擬，而不必應用到價格高昂的電腦機構模擬軟體。而在 設計上，透過此模擬演算法，可得到機器手臂每一個關節馬達所需之扭矩大小與最大 轉速，據此可完成馬達規格之選用，並決定所配置減速機之齒數比。最後，在模擬人 類手臂基本動作之動態模擬中，顯示順滑模態控制法則確能有效控制機器手臂，並比 傳統PID 控制器具有更好的各軸軌跡追蹤能力，深具實際應用價值。

ABSTRACT The main purpose of this paper focused on the mechanical design and motion control of a 7 DOF humanoid robot arm. In mechanical design, the Inventor software is used to achieve the design of robot mechanism. In control problem, because the dynamic model of a humanoid robot arm is highly complicated, a traditional controller is difficult to control it. In this paper, an independent joint sliding mode controller is proposed to control the robot arm. Moreover, in order to overcome the difficulty needing the closed-form model of robot arm in general dynamic simulations, a simple and easily implemented algorithm is also proposed. The simulation algorithm can efficiently finish dynamic simulations, does not need the closed-form arm model, so long as use the recursive computed torque technique. Underimitating basic movements of human arm, the simulation results confirm that the proposed joint sliding mode controller can achieve better control performance over the conventional joint PID in terms of high payload variation.