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研究生:吳秉翰
研究生(外文):Biing-Hann Wu
論文名稱:發展視覺導引機械手臂之動態定位補償系統
論文名稱(外文):Development of a Dynamic Positioning and Compensation System for Vision-Guided Manipulators
指導教授:葉賜旭
口試委員:粘濠偉;謝鎮洲
口試日期:2016-07-21
學位類別:碩士
校院名稱:國立臺北科技大學
系所名稱:機電整合研究所
學門:工程學門
學類:機械工程學類
論文種類:學術論文
畢業學年度:104
語文別:中文
中文關鍵詞:視覺導引、機械手臂、動態定位
外文關鍵詞:Vision-GuidedManipulatorsDynamic Positioning
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儘管二維視覺已廣泛使用於自動化檢查,隨著機械手臂於生產線的應用日益增加,機械手臂在生產線動態取放移動物件的應用也逐漸增加;尤其是在物體移動時,決定移動物件的位置,且分析機械手臂與移動物件的同步運動(即動態追隨功能),成為近年來視覺導引機械手臂的重要課題。為達到動態追隨的目的,本研究發展一套動態定位及補償系統。透過視覺定位方法精確地將擷取圖像距離轉換成真實世界所需要補償的距離,然後再以PID控制器產生位置命令訊號至應用之視覺導引機械手臂進行定位控制。在不改變系統硬體及控制參數設定時,本研究實驗驗證發展動態定位及補償系統的動態追隨功能。
Although 2D vision has been widely used for automated inspection, with an increase in the number of manipulators used in production lines, the applications of manipulators for dynamic pick and place a moving object in a production line are also increasing. Especially for a moving object, determining the location of the moving object and analyzing the synchronize motions between a manipulator and the moving object (i.e. the functionality of dynamic following) have become important issues for vision-guided manipulators. To achieve dynamic following, this study has developed a dynamic positioning and compensation system. The distance in a captured image was precisely transformed to the distance in real word to be compensated by using a visual positioning method. Then, a proportional–integral–derivative controller (PID controller) was used to generate position command signals for positioning control of the applied vision-guided manipulator. Without changing system hardware and settings of the control parameters, the functionality of dynamic following using the developed dynamic positioning and compensation system was experimentally evaluated and validated in this study.
中文摘要 i
英文摘要 ii
致謝 iv
目錄 v
表目錄 vi
圖目錄 vii
第一章 緒論 1
1.1 研究動機與目的 1
1.2 文獻探討與問題陳述 3
1.3 提出解決方法 3
1.4 論文架構 4
第二章 實驗系統與使用設備 5
2.1 系統架構與操作說明 5
2.2 實驗設備 8
2.3 機械手臂介紹 9
2.4 CCD攝影機 16
第三章 影像處理 19
3.1 旋轉和對稱 19
3.2 HSV色彩空間 20
3.3 二值化 22
3.4 侵蝕 22
3.5 補洞 24
3.6 凸包 25
第四章 動態定位補償系統 31
4.1 目標物做圓周運動 31
4.2 定位誤差 32
4.3 PID控制器 34
第五章 旋轉盤點位補償實驗 37
5.1 影像座標單位轉換 37
5.2 安裝及操作流程 38
5.3 實驗結果與討論 40
第六章 結論 45
參考文獻 46
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