本論文研究目的為使用SCARA機器手臂來對散布在具震動功能之平台上的螺絲與螺帽進行視覺辨識與夾取分類的動作以及具移動功能之平台上螺絲與螺帽進行夾取分類的動作。首先，許多螺絲與螺帽被分散放置在平坦的黑色平面上，機器人可以辨識出螺絲與螺帽的大小及其位置，並將目標物夾取到指定的分類盒中放置。如果螺絲與螺帽呈現重疊或者堆疊的狀況時，會難以辨識出正確的種類以及位置。為了解決這個情況，我們設計一組具震動功能之平台來取代平坦的平面，透過具震動功能之平台來分散這些螺絲與螺帽。當螺絲與螺帽被擺放在移動功能之平台時，仍然可以透過計算平台的移動速度來進行夾取與分類的動作。基於工業攝影機的擷取頻率以及影像中的座標點就能計算出目標物的移動速度，然後設計機器手臂的夾取流程來對移動中的目標物做夾取與擺放的動作。最後完成了兩個實驗:具震動功能之平台上的螺絲與螺帽之夾取與分類及具移動功能之平台上的螺絲與螺帽之夾取與分類。;This master thesis studies the operation of SCARA robot to perform a vision recognition and pick-and-place screws and nuts spread on a vibrating surface or a running conveyor belt. First, a lot of screws and nuts are spread on black flat surface, the robot can recognize the location and size of each screw or nut, then pick each one and place it into a specific box. If some screws or nuts are overlapping or stacking, then it is hard to recognize the correct location and size of each object. In order to solve this problem, a vibrating surface is designed to replace the flat surface such that screws or nuts can be separated because of vibration surface. When the screws or nuts are put on a running conveyor belt, the robot still can achieve the pick-place operation with the aids of the calculation of the running speed of the conveyor belt. Based on the industrial camera’s frequency-acquisition technique and shifting positions of the image, the running speed can be calculated. Then design the motion process of the robot such that the robot can catch the timing for achieving the works picking and placing. Finally, there are two successful experiments: picking and placing screws and nuts in a vibration surface and in a running conveyor belt, respectively, are shown.
