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研究生:徐國富
研究生(外文):KUO-FU HSU
論文名稱:影像量測技術在多軸平台定位上之研究
論文名稱(外文):The Position and Orientation Measurement of Multi-axis Machine Utilizing Vision Technology
指導教授:章明章明引用關係
指導教授(外文):Ming Chang
學位類別:碩士
校院名稱:中原大學
系所名稱:機械工程研究所
學門:工程學門
學類:機械工程學類
論文種類:學術論文
論文出版年:2001
畢業學年度:89
語文別:中文
論文頁數:69
中文關鍵詞:視覺技術映射函數多軸機台位置量測方位量測
外文關鍵詞:vision techonologymapping functionmulti-axis machinepoisition measurementorientation measurement
相關次數:
  • 被引用被引用:4
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本研究目的在發展出一套以影像方式執行多軸平台運動中之快速定位與定向量測的技術,擬利用多層二維空間映射函數原理與座標轉換量測技術,建立雙CCD攝影機量測座標系統,利用雙CCD攝影機對平台上特徵點進行量測,獲得特徵點在雙CCD攝影機有限三維空間量測範圍內之空間位置,藉以量測平台之定位精度。
本研究發展之量測探頭在有效三維量測空間為50 50 40 mm時,特徵點量測空間座標重複度為(0.012,0.023,0.020)mm,而定位精度為(0.063,0.071,0.053) mm,三軸軸向方位餘弦誤差分別為X軸(0.0005,0.0018,0.0017)、Y軸(0.0018,0.0003,0.0018)與Z軸(0.0018,0.0018,0.0007)。運用於量測Robot(ABB IRB 140)在有效探頭量測空間內之定位量測上,重複度為(0.032,0.028,0.029)mm,定位精度為(0.106, 0.112, 0.117)mm。

A technique for the measurements of the poisition and orientation on the multi-axis machine utilizing vision techonology has be developed. A dual CCD-based coordinate measuring system was established with the use of multi-layer 2D mapping function and coordinate transformation method. This system can locate the position of the characteric point on the multi-axis machine in a specific 3D space and calculating the poisition and orientation of the multi-axis machine.
When the measurable 3D space in the measurement sensor with a range of depth(X axis)50 mm, width(Y axis)40 mm, and(Z axis)50 mm was specified, the positioning errors for a characteric point in X, Y, and Z axis were 0.063 mm, 0.071 mm, and 0.053 mm, respectively. Measurements were repeated ten times, the measurement repeatability in X, Y, and Z axis were 0.012 mm, 0.023 mm, and 0.020 mm, respectively. Beside, orientation cosine errors in axis X were(0.0005, 0.0018, 0.0017), in Y(0.0018, 0.0003, 0.0018), and in Z(0.0018, 0.0018, 0.0007), respectively. Experiments were also executed with a Robot(ABB IRB 140). The positioning errors and repeatability in coordinate X were 0.106 mm and 0.032 mm, in Y 0.112 mm and 0.028 mm, and in Z 0.117 mm and 0.048 mm, respectively.

中文摘要……………………………………………………………Ⅰ
英文摘要……………………………………………………………Ⅱ
誌謝……………………………………………………………………Ⅲ
目錄……………………………………………………………………Ⅳ
圖目錄………………………………………………………………Ⅵ
表目錄………………………………………………………………Ⅷ
第一章緒論………………………………………………………1
1-1 前言………………………………………………………………1
1-2 研究背景與目的…………………………………………………3
1-3 研究內容………………………………………………………6
第二章有限三維空間影像量測技術……………………7
2-1 三維影像量測技術簡介…………………………………………7
2-2 多層二維影像量測……………………………………………10
2-2-1 校正程序…………………………………………………12
2-2-2 量測方式…………………………………………………14
2-3 空間特徵點之選用……………………………………………17
2-4 影像量測處理方式……………………………………………19
第三章空間點座標量測…………………………………23
3-1 量測座標系統架構……………………………………………25
3-1-1 齊次座標轉換……………………………………………25
3-1-2 量測座標系統……………………………………………28
3-2空間點影像量測方式…………………………………………30
3-3 三維空間點量測步驟…………………………………………34
第四章量測系統設計製作與校正………………………38
4-1 系統架構………………………………………………………38
4-2 雙CCD視覺探頭模組設計……………………………………40
4-3 十字標產生器設計製作………………………………………44
4-4井字標網格製作………………………………………………48
4-5 雙CCD視覺探頭校正…………………………………………49
4-5-1影像量測精度驗證………………………………………50
4-5-2多層二維量測空間校正…………………………………54
第五章實驗結果與運用……………………………………58
5-1雙CCD探頭量測精度驗證………………………………………59
5-2 Robot空間定位量測…………………………………………63
第六章結論與未來展望……………………………………66
參考文獻……………………………………………………………68

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