臺灣博碩士論文加值系統

隨著自動化需求在全世界大幅度提升，各式各樣的自動化產品相應而
生，未來工廠的核心要求是機動和靈活，靜態的生產線已不足以滿足智慧
製造，彈性化自動化設備將會大幅被使用，空間內自主移動、群體作業並
為工業提供絕對的靈活性，這在內部物流領域中尤其重要。
本論文研究內容以自動化產線系統為建置標的，研製具有物聯操控的
移載式機器人，並將以軟、硬體技術整合。
本文研究中，分為三大單元，無人搬運車、機械手臂及物聯操控，透
過遠端下命令於移載式機器人，告知須前往的工作站點並透過機械手臂將
其工件夾取至指定機台設備中進行加工。
移載式機器人主體實驗部分，透過系統鑑別方式，鑑別各軸系統參數，
再以閉迴路控制方式進行多軸伺服運動。
移載式機器人物聯實驗部分，透過物聯進行即時資料傳遞，進行規劃
排程，並以 Microsoft Visual Studio C++為主要開發環境，設計人機介面方便
使用者遠端操控系統。

For the increase of the requirement for automatic system substantially, various
automatic equipment is emerged. However, factory is required more dynamic and
flexible in future, therefore, production lines with fixed manufacturing flows are
insufficient for the needs of intelligent manufacturing. Equipment that can move
autonomously and work in groups so as to provide flexibility for the applications
of industries is very important for manufacturing. Therefore, the paper is mainly to
implement a Mobile Robot Manipulator with the capability of IOT in an integrated
automation production line.
The paper includes three parts: AGV, robotic arm, and IOT. The Mobile
Robot Manipulator is notified to move toward the assigned station and the
workpiece would be clamped to the designated machine through the robot arm.
The validation experiments of the Mobile Robot Manipulator include system
identification process to identify system parameters for each axis so as to design
robust controllers for motion controls.

目錄

摘要 .................................. I
ABSTRACT ............................. II
誌謝 ................................. III
目錄 ........................... IV
表目錄 .............. VI
圖目錄 ............................ VII
符號表 ........................................................................... XI
第一章 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 ........................................ 5
第二章 移載式機器人問題描述 ........... 6
2.1 自動化產線現階段問題 ................................. 6
2.2 移載式機器人現階段問題 ................... 6
2.3 設計需求 .......................................... 7
第三章 移載式機器人之分析 .......... 9
3.1 機構設計 ........................... 9
3.1.1 機械手臂 ....................................................... 9
3.1.2 移動台車 ...................................................... 15
3.2 順逆向運動學 ........................................................... 19
3.2.1 順向運動學 ....................................................... 19
3.2.2 逆向運動學 ...................................................... 23
3.2.3 順逆向運動學之模擬驗證 ...................... 26
3.3 移動台車的空間誤差補償 ................ 30
第四章 系統研究與實驗規劃 ............... 33
4.1 系統架構 ....................................................... 33
4.1.1 移載式機器人規格介紹 ........................ 33
4.1.2 運動控制器 ........................................... 35
4.1.2 開發環境與人機介面 ................................. 37
4.2 系統鑑別 ................................................ 40
4.3 控制器設計 ........................................... 45
4.3.1 可變結構控制器(VSS) ...................... 46
4.3.2 流形變形控制器(MMDS) ....................... 47
4.4 控制器模擬結果 .............................................. 48
4.4.1 點對點控制模擬 ....................................... 48
4.4.2 軌跡追蹤控制模擬 ................................... 50
第五章 實驗結果................................................. 53
5.1 點對點控制實驗 ............................................... 53
5.2 軌跡追蹤控制實驗 ............................................. 59
5.3 空間誤差補償實驗 .................................... 66
5.4 遠端監控實驗 .............................................. 69
第六章 結論………................................ 74
6.1 研究結論 .......................................................... 74
6.2 未來發展 ...................................................... 75
參考文獻 .................................................... 76

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