臺灣博碩士論文加值系統

本文透過 Kinect擷取手套特徵物件的3D位移資訊，以及使用LPMS-B六軸加速度感測器即時感測手腕當前三軸角度姿態，整合成終端效果器六軸資訊，對機器手臂執行遠端操作。其中手套的設計結合Arduino的開關控制，遠端控制機器手臂終端效果器上裝設的機器夾爪開闔(抓取或放置物件)，發展出一套不必事先教導，可供人類藉著移動自己的手掌來直接指揮六軸機器手臂執行六軸同動運動，完成對隨意物件所需的操作。
此技術適合應用在隨機使用機械手臂執行物件操作的場合，以直覺手勢直接引導的操作方式，免除示教過程，創造時間節約、使用效率和競爭力，提高智慧自動化水平。
相同技術也可用在創造難以教導或需長時間才能完成的機器手臂困難運動軌跡，再重複實施在機器手臂後續的物件操作上。這對需要複雜軌跡才能完成的物件組裝而言具高度應用價值。

In this thesis, 3D displacement information of the featured glove is captured by Kinect and the Euler’s angles of the operator’s wrist are postured by LPMS-B 6-axis acceleration sensor (from L-P Research) immediately. After that, the 3D displacement information is integrated with Euler’s angles into the integral 6-axis information for defining the real-time end-effector position and posture in the robot arm tele-operation.
Furthermore, the featured glove was equipped with an Arduino circuit for controlling the on-off operation (grasping or releasing object) of the gripper on the end-effector. This innovative system can be used to control the 6-axis robot arm to operate a randomly-positioned object without pre-teaching.
This technique is particularly suitable for operating randomly-positioned objects by using multi-axis robot arm. The operation is intuitive, without the time-consuming teaching process, save time, and increase efficiency.
The new system can also be used in generating trajectories for some hard-to-teach or high time-consuming object operations. The trajectory produced by the hand posture operation can be subsequently used on repeated object operations. This is a valuable tool for some hard-to-teach assembly tasks.

目錄
中文摘要 I
ABSTRACT II
誌謝 III
目錄 IV
圖目錄 V
表目錄 VII
第1章 緒論 1
1.1 研究動機與目的 1
1.2 文獻回顧 2
1.3 論文架構 3
第2章 機械手臂之運動學分析 4
2.1 運動學概述 5
2.2 順向運動學 7
2.3 逆向運動學 12
第3章 影像處理 16
3.1 特徵物追蹤 16
3.2 特徵物深度 20
第4章 軌跡與模擬介面 21
4.1 最小二乘法 22
4.2 曲線擬合 26
4.3 圖形使用者介面 27
第5章 實驗設備介紹 32
5.1 Kinect 33
5.2 六軸加速度感測器 34
5.3 夾爪與特徵手套設計 34
5.4 機械手臂 36
第6章 手操作六軸機械手臂運動 38
6.1 系統架構 38
6.2 實驗方法 40
6.3 實驗結果 41
第7章 結論與未來展望 51
7.1 結論 51
7.2 未來展望與發展 52
參考文獻 53

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