臺灣博碩士論文加值系統

本論文提出一種運用眼看手視覺伺服之自動化手機電池組裝系統，此系統藉由雙眼攝影機辨識目標物與機械手臂夾具的三維資訊，以視覺伺服精準地組裝手機電池。本論文運用最小平方參數估測法鑑別出機械手臂動力學方程式之參數，藉以設計速度控制器並計算出輸出力矩命令。本系統首先透過攝影機取得手機與電池的特徵，運用立體視覺計算其位置與姿態，藉由適當之編碼誤差，設計一閉迴路視覺伺服控制器，進而驅動機械手臂自動將電池裝在手機上完成組裝任務，並已經實際實驗驗證所提出的系統之可行性。

An eye-to-hand vision-based automated phone battery assembly system is presented. The system employs two fixed cameras to observe the phone, the battery and the manipulator gripper.The phone battery assembly task can be accomplished by visual servoing with precision.The parameters of the manipulator dynamic model are identified by using the least squares parameter estimation method.The identified parameters are used for velocity controller to determine the torque commands. The system captures the features of the phone and the battery by using the cameras, and then computes their poses by two-camera vision. With an appropriate encoded error, a closed-loop visual servo controller is proposed. The velocity control command can thus be determined for driving the manipulator to perform the assembly tasks. The control approach proposed in the thesis has been successfully validated in experiments and can be used to accomplish automated phone battery assembly tasks with precision.

中文摘要. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .i
英文摘要. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .ii
誌謝. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .iii
目錄. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .iv
表目錄. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .v
圖目錄. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .vi
第一章 緒論. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.1 研究動機及目的 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.2 文獻回顧 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.3 論文具體成果 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.4 論文章節瀏覽 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
第二章 系統簡介. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . 3
2.1 系統架構 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
2.2 系統流程 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
第三章 機械手臂模型與控制. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5
3.1 運動學 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
3.1.1 正向運動學 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
3.1.2 速度運動學 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
3.2 動力學 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
3.2.1 動力學模型 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
3.2.2 參數鑑別. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
3.3 速度控制器 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
第四章 攝影機參數校準以及手眼關係校準. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12
4.1 攝影機校準 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
4.1.1 立體視覺. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
4.2 手眼關係校準 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .18
第五章 影像處理. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .21
5.1 顏色濾波 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
5.2 侵蝕與膨脹 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
5.3 Canny邊緣檢測 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
5.4 霍夫轉換 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
第六章 手機電池組裝任務 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .25
6.1 影像特徵點擷取與座標系統建立 . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
6.1.1 建立機械手臂期望位置與旋轉角度. . . . . . . . . . . . . . . . . . . . . . . . 27
6.1.2 建立機械手臂未端旋轉角度. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
6.2 視覺伺服控制 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
6.2.1 手機電池組裝任務的控制器設計. . . . . . . . . . . . . . . . . . . . . . . . . . . .33
第七章 實驗結果. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .37
7.1 實驗數據 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .... . 37
7.2 實驗數據 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
第八章 結論. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .41
8.1 結論 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . 41
8.2 未來展望 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 42
參考文獻. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .43
附錄. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .46
A 作者簡介. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

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