臺灣博碩士論文加值系統

本論文所研製之光電量測系統是使用六組雷射二極體與六組光位置感測器構成陣列式雷射架構，可提供機械手臂末端效應器的三維空間座標量測。原理是透過圓棒遮蔽雷射束，使得感測器接受到的雷射能量產生變化，藉此應用於計算機械手臂末端效應器之空間座標。
本研究實現機械手臂在量測系統中的九個量測位置之定位誤差量測。除此之外也可針對相同位置點作精度飄移量測，亦提出新穎的機械手臂姿態角偏差量量測的技術。
本量測系統優點為成本低廉，亦不需使用昂貴的系統配件，架設容易，其三軸向刀具端點量測準確度為10 μm，量測解析度為1 μm。

The optoelectronic measurement system developed in this study contains a laser array architecture comprising six laser diodes and six optical position sensors to measure the three-dimensional space coordinates of robot end effectors. The principle involves changing amount of laser energy that the sensors can detect by intercepting the lasers with rods and then using the difference to calculate the spatial coordinates of the robot end effector.
This study implemented the positioning error measurement of a robotic arm in the measurement system with nine measurement positions. Using the same positions, we also conducted precise drift measurements and proposed a novel technique to measure the deviation in the attitude angles of robotic arms.
This system is easy to set up and offers a low-cost approach for measurement with no expensive accessories. Its accuracy for three-axial tool-end measurement is up to 10 μm, and it has a measurement resolution of 1 μm.

目錄
致謝 i
摘要 ii
Abstract iii
目錄 iv
圖目錄 vii
表目錄 xi
第一章 緒論 1
1.1 前言 1
1.2 研究目的 2
1.3 文獻回顧 2
1.4 論文架構 19
第二章 理論基礎 20
2.1 定位量測原理介紹 20
2.1.1 手臂末端中心點X、Y向空間座標量測原理介紹 20
2.1.2 手臂末端中心點Z向空間座標量測原理介紹 22
2.1.3 機械手臂姿態角偏差量量測原理介紹 24
2.1.4 電壓峰值判定的方法 25
2.2 機械手臂運動學 26
2.2.1 六軸機械手臂運動學座標系之建立 26
2.2.2六軸機械手臂正向運動學方程式之建立 30
2.3 位置精度飄移 33
第三章 陣列式雷射光電檢測系統 34
3.1系統架構介紹 34
3.2量測系統元件介紹 34
3.2.1雷射二極體(Laser Diode, LD) 34
3.2.2光位置感測器 35
3.2.3光檢測訊號處理器 36
3.2.4訊號擷取設備 38
3.3量測系統之研製 38
3.4量測系統驗證 41
3.4.1驗證儀器介紹 41
3.4.2 量測系統量測點定位結果 42
3.4.3 高斯光束發散角對量測靈敏度的影響 44
3.4.4 量測系統準直與正交校正 51
3.5 系統量測程式介紹 52
3.6實驗設備介紹 53
3.6.1富士康六軸機械手臂FX-1700SR 53
第四章 實驗結果與討論 55
4.1量測系統安裝 56
4.1.1量測系統安裝流程 57
4.1.2 量測系統材料潛變 57
4.1.3遮光量測特性說明 58
4.2 量測系統九個固定位置之三軸向定位誤差量測 60
4.2.1實驗說明 60
4.2.2 實驗結果與討論 61
4.3 長時間下加工的定位誤差變化 65
4.3.1實驗說明 65
4.3.2實驗量測結果 65
4.4刀具角度偏差量測 66
4.4.1實驗動作說明 67
4.4.2 實驗量測結果 68
第五章 結論與未來展望 71
5.1 結論 71
5.2 未來展望 71
參考文獻 74

[1] .C. Gong, J. Yuan, and J. Ni, “Nongeometric error identification and compensation for robot system by inverse calibration,” Internation Journal of Machine Tools and Manufacture, pp. 2119-2137, 2000.
[2] J., Hesslbach,C., Bier, I., Pietsch, N.Plitea, “Passive-joint sensors for parallel robot,” Mechatronics, pp. 43-65, 2005.
[3] K.H.Hunt, “Robot Kinematics-A compact analytic inverse solution for velocities,” Journal of Mechanisms,Transmission,and Automation in Design,109, pp. 42-49, 1987.
[4] T.Tsumugiwa,R,Yokogawa,and K,Hara, “Measurement method for compliance of vertical-multi-articulated robot - Application to 7-DOF robot PA-10,” Proceedings - IEEE International Conference on Robotics and Automation, pp. 2741-2746, 2003.
[5] K.J.Waldron, “Geometrically Based Manipulator Rate Control Algorithms,” Proceedings - OSU Applied Mechanisms Conference (Oklahoma State University), pp. 1-1, 1981.
[6] G. D. van Albada, J. M. Lagerberg, A. Visser, and L. O. Hertzberger, “A low-cost pose-measuring system for robot calibration,” Robotics and Autonomous Systems, 15, pp. 207-227, 1995.
[7] . Motta, G. C. De Carvalho, and R. S. McMaster, “Robot calibration using a 3D vision-based measurement system with a single camera,” Robotics and Computer-Integrated Manufacturing, 17, pp. 487-497, 2001.
[8] C. J. Liu, J. G. Zhu, Y. B. Li, and S. H. Ye, “Study on a real-time visual measuring and tracking system for industry robot welding,” Proceedings of SPIE, 6344 II, p. 634436, 2006.
[9] J. J. Aguilar, M. Lope, F. Torres, and A. Blesa, “Development of a stereo vision system for non-contact railway concrete sleepers measurement based in holographic optical elements,” Measurement, 38, pp. 154-165, 2005.
[10] S. Liu, K. Peng, X. Zhang, H. Zhang, and F. Huang, “The study of dual cameras 3D coordinate vision measurement system using a special probe,” Proceedings of SPIE, 6357 II, p. 63574, 2006.
[11] Hayati, Samad, Kam Tso, and Gerald Roston, “Robot geometry calibration,” Robotics and Automation, 1988. Proceedings, 1988.
[12] William K., and C-H. Wu., “Robot calibration and compensation,” Robotics and Automation, IEEE Journal of 4.6 , pp. 643-656, 1988.
[13] Erick Nieves, Ning Xi, Biqiang Du, and Yunyi Jia, “A Reflected Laser Line Approach for Industrial Robot Calibration,” IEEE/ASME International Conference on Advanced Intelligent Mechatronics, pp. 610-615, 2012.
[14] Yong Liu, Ning Xi, George Zhang, Xiongzi Li, Heping Chen, Chi Zhang, Michael J. Jeffery and Thomas A. Fuhlbrigge,, “An Automated Method to Calibrate Industrial Robot Joint Offset Using Virtual Line-based Single-point Constraint Approach,” IEEE/RSJ International Conference on Intelligent Robots and Systems, St. Louis, pp. 715-720, 2009.
[15] Biqiang Du , Ning Xi , Erick Nieves, “Industrial Robot Calibration Using A Virtual Linear Constraint,” "International Journal On Smart Sensing And Intelligent Systems, Vol. 5, No. 4, pp. 987-1001, 2012.
[16] Heping Chen, Thomas Fuhlbrigge, Sang Choi, Jianjun Wang and Xiongzi Li, “Practical Industrial Robot Zero Offset Calibration,” IEEE Conference on Automation Science and Engineering Key Bridge Marriott, Washington DC, pp. 516-521, 2008.
[17] Jian Yin,Yu Gao, “Pose Accuracy Calibration of a Serial Five DOF Robot,” Energy Procedia 14, Shanghai University, pp. 977-982, 2012.
[18] Sun Lei, Liu Jingtai, Sun Weiwei, Wu Shuihua, and Huang Xingho, “Geometry-Based Robot Calibration Method,” Proseedings of the 2004 IEEE lntarnatlonal Conference on Robotics &Automation, Iiistitufe of Robotics & Automafic Information System Nonkai University Tianjin, P.R, pp. 1907-1912, 2004.
[19] Joubair, Ahmed, Mohamed Slamani, and Ilian A. Bonev, “Kinematic calibration of a five-bar planar parallel robot using all working modes,” Robotics and Computer-Integrated Manufacturing 29, pp. 15-25, 2013.
[20] Wang, Shih-Ming, and Kornel F. Ehmann, “Measurement methods for the position errors of a multi-axis machine. Part 1: principles and sensitivity analysis,” International Journal of Machine Tools and Manufacture 39.6, pp. 951-964, 1999.
[21] Prenninger, Johann P., “Contactless position and orientation measurement of robot end-effectors,” Robotics and Automation, 1993. Proceedings,Proceedings., 1993 IEEE International Conference on. IEEE, 1993.
[22] Li, Xing Hua, Bo Chen, and Zu Rong Qiu, “The calibration and error compensation techniques for an Articulated Arm CMM with two parallel rotational axes,” easurement 46.1, pp. 603-609, 2013.
[23] Nubiola, Albert, and Ilian A. Bonev, “Absolute robot calibration with a single telescoping ballbar,” Precision Engineering 38.3, pp. 472-480, 2014.
[24] Yin, Shibin, et al., “Development and calibration of an integrated 3D scanning system for high-accuracy large-scale metrology,” Measurement 54, pp. 64-76, 2014.
[25] Traslosheros, Alberto, et al., “An Inexpensive Method for Kinematic Calibration of a Parallel Robot by Using One Hand-Held Camera as Main Sensor,” Sensors13.8, pp. 9941-9965, 2013.
[26] Chandra Sekhar Gatla, Ron Lumia, Fellow, John Wood, and Greg Starr, “An Automated Method to Calibrate Industrial Robots Using a Virtual Closed Kinematic Chain,” IEEE Transactions On Robotics, Vol. 23, No. 6, December 2007Robotics, Vol. 23, No. 6, pp. 1105-1116, 2007.
[27] T.W. Ng，Ｈ.Y.Tan,S.L.Foo, “Small Gaussian laser beam diameter measurement,” Optics & Laser Technology 39, pp. 1098-1100, 2007.
[28] N. K. Rana, R. R. Sawant and A. H. Moon, “A Non-contact Method for Rod Straightness Measurement Based on Quadrant Laser Sensor,” IEEE, pp. 2292-2297, 2006.
[29] Zhihui Deng, Yunyi Jia, Jiatong Bao, Chengzhi Su, Yu Cheng and Ning Xi, “Adaptive Alignment Control for a Dual-PSD based Industrial Robot,” IEEE Conference on Robotics and Biomimetics, pp. 1247-1252, 2015.
[30] Liao Wu, Jiaole Wang,, “Simultaneous Hand–Eye, Tool–Flange, and Robot–Robot Calibration for Comanipulation by Solving the AXB = YCZ Problem,” IEEE TRANSACTIONS ON ROBOTICS, VOL. 32, NO. 2,, pp. 413-428, 2016.
[31] F. S. Cheng, “The Method of Recovering Robot TCP Positions,” Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, pp. 805-810, 2007.
[32] YuanfanZeng,WeiTian n, WenheLiao, “Positional error similarity analysis for error compensation of industrial robots,” RoboticsandComputer-IntegratedManufacturing42, pp. 113-120, 2016.
[33] MartinPfurner, “Closed form inverse kinematics solution for a redundant anthropomorphic robot arm,” Computer Aided Geometric Design 47, pp. 163-171, 2016.
[34] Zhe Huang, Jigui Zhu, Linghui Yang, Bin Xue, Jun Wu, and Ziyue Zhao, “Accurate 3-D Position and Orientation Method for Indoor Mobile Robot Navigation Based on Photoelectric Scanning,” IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT, VOL. 64, NO. 9, pp. 2518-2529, 2015.
[35] Xiaojun Wu1, Zefei Li1, and Peizhi Wen2, “An automatic shoe-groove feature extraction method based on robot and structural laser scanning,” International Journal of Advanced Robotic Systems, pp. 1-14, 2017.
[36] Shintaro ITOH,Koki IMAI,Kenji FUKUZAWA,Yuya HAMOTO, “Displacement Measurement for High Speed Tribological Measurement Using Osxillating Optical Fiber Probe,” Journal of Advanced Mechanical Design, pp. 2-13, 2010.
[37] 林唯修, “六軸機械手臂之研製與位置控制,” 國立台灣科技大學, 2009.
[38] 晉茂林, 機器人學, 國立編譯館.