自走式銲接機械手臂之遠端遙控

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Please use this identifier to cite or link to this item: http://ir.lib.ncu.edu.tw/handle/987654321/2018

Title:	自走式銲接機械手臂之遠端遙控
Authors:	林義欽;Yi-Qing Lin
Contributors:	機械工程研究所
Keywords:	通訊仲裁機制;機械人;RS-232C;TCP/IP;遠端遙控
Date:	2001-07-09
Issue Date:	2009-09-21 11:36:29 (UTC+8)
Publisher:	國立中央大學圖書館
Abstract:	對於許多不利於人工操作的危險工作環境，例如核能電廠檢修，若能透過即時影像的監控，以遠端遙控機械手臂來取代專業技術人員執行工作，將可以減少危險的發生。因此，本研究旨在開發一套PC-Based之自走式銲接機械手臂遠端遙控系統，藉由整合遠端遙控通訊、機械臂運動模擬、3D虛擬環境、影像監控及3D運動搖桿的操作，執行遠端遙控機械手臂銲接作業。本研究重點以通訊軟體設計與整合為主，系統發展可分為兩個階段。第一階段使用標準的RS-232C串列介面為媒介，目前已有初步成果應用於實際遠端遙控之銲接作業，但是它具有傳輸速度慢與遙控距離短等缺點。本研究第二階段採用網路TCP/IP通訊協定為通訊媒介。系統中使用TCP/IP通訊協定之TCP與UDP兩種資料傳輸方式分別傳輸控制指令與影像畫面，並應用TCP緊急模式之通訊協定與通訊仲裁機制的概念，依照控制指令、狀態訊息與影像畫面等不同的通訊種類，給予不同的傳輸優先權來改善資料傳輸的效率。此系統經以電腦模擬遠端機械臂系統的銲接動作，結果顯示系統的操作流暢度與操控性均較佳，且無遙控距離的限制，成功改善了以RS-232C為通訊媒介傳輸距離短與傳輸速度較慢等多項缺點。 For the dangerous working environment, such as overhauling of nuclear power plant or underwater operation, a suitable remote controlled robot system with real-time image monitoring can be adopted to replace the human operator, and to avoid operator damage under such high temperature or high pressure environment. Thus, the main object of this thesis is aimed to develop a PC-based remote-controlled software system, in which the robot control, 3D graphical simulation, computer vision, and communication theories are incorporated. The research is divided into two stages, according to the used of communication protocol. First, a remote control system based on the RS-232C serial communication is developed, and it has been implemented in the real welding task successfully. However, it still exists some disadvantages caused by the limitation of communication speed and distance. In order to make the remote operation more effectively, another software system based on the internet TCP/IP protocol is developed in the second stage. Within the stage, the TCP and UDP under TCP/IP protocol are designed to transfer the control commands and image data respectively. In addition, urgent mode of TCP/IP and the traffic management of network communication are also implemented to offer different priority of communication to improve the efficiency. It has been implemented under computer simulation environment, and shown that it is better than the RS-232C based system both in operation and communication speed.
Appears in Collections:	[機械工程研究所] 博碩士論文

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