整合視覺及力量控制之六軸機械手臂系統開發

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姓名

洪浩文(Hao-Wen Hong) 查詢紙本館藏

畢業系所

光機電工程研究所

論文名稱

整合視覺及力量控制之六軸機械手臂系統開發
(Development of a six-axis robotic arm system integrating vision and force control)

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至系統瀏覽論文 ( 永不開放)

摘要(中)

本研究在Linux系統的Ubuntu20.04版本下透過機器人作業系統(Robot Operating System, ROS)開發控制軟體，並透過ROS點對點網路與其分散式架構將所有資訊進行資料傳遞並整合工業用IPC、六軸工業型機械手臂、2D相機及鏡頭、六軸力量/力矩感測器以及自適應夾爪等實現軟、硬體協同的設計。
本論文之任務目標在於透過導入影像視覺定位技術以及力量感測技術，開發一種能夠基於力量及視覺進行齒輪組裝的系統，本研究導入順應性力量控制(Compliance Force Control)的系統，來實現機械手臂進行齒輪組裝任務，並透過影像視覺定位技術，改善順應性力量控制在組裝過程中因位置的不確定性而導致組裝失敗的問題，在組裝前先透過影像視覺定位組裝物件，並將位置控制整合至順應性力量控制，最後透過實驗來組裝三種大小及外型不同的機車齒輪零件，來應證該系統的可行性，並由實驗結果得證該系統確實能夠用於齒輪箱組裝任務，此成果顯示本論文成功實現了透過力量及視覺的六軸機械手臂齒輪組裝系統。

摘要(英)

This research is conducted on the Ubuntu 20.04 version of the Linux system, utilizing the Robot Operating System (ROS) for the development of control software. Through ROS′s pointto-point networking and its distributed architecture, all information is transmitted and integrated, including industrial IPC, a six-axis industrial robotic arm, 2D cameras and lenses, a six-axis force/torque sensor, and an adaptive gripper. This achieves a design that synergizes both software and hardware components.
The primary objective of this thesis is to develop a system for gear assembly based on force and vision using image-based visual localization and force sensing technologies. The research incorporates Compliance Force Control to enable the robotic arm to perform gear assembly tasks. Additionally, it addresses the issue of assembly failures due to positional uncertainties during the assembly process by incorporating image-based visual localization. Prior to assembly, the system employs image-based visual localization to locate the assembly objects and integrates position control into Compliance Force Control. Finally, experiments are conducted to assemble three different motorcycle gear components of varying sizes and shapes, demonstrating the feasibility of the system. The experimental results confirm that the system can indeed be used for gearbox assembly tasks. This achievement demonstrates the successful realization of a six-axis robotic arm gear assembly system through the integration of force and vision.

關鍵字(中)

★ 力量順應性
★ 機器視覺
★ 重力補償
★ 六軸機械手臂
★ 運動學
★ 座標轉換
★ 伺服運動

關鍵字(英)

★ Compliance force control
★ Machine vision
★ Gravity compensation
★ Six-axis robotic arm
★ ROS
★ Kinematics
★ Coordinate transformation
★ Servo motion

論文目次

摘要 I
Abstract II
致謝 III
目錄 IV
圖目錄 VI
表目錄 X
第1章緒論 1
1.1 研究背景 1
1.2 文獻回顧 1
1.2.1 順應性控制及組裝 1
1.2.2 機器視覺定位及組裝 4
1.3 研究動機和目的 6
1.4 論文架構 7
第2章系統架構 8
2.1 硬體架構 8
2.1.1 六軸工業機械手臂 8
2.1.2 力量感測器 9
2.1.3 工業電腦 10
2.1.4 相機及鏡頭 11
2.1.5 自適應夾爪及指夾設計 12
2.2 軟體架構 15
2.2.1 ROS簡介 15
2.2.2 Moveit套件介紹 17
2.2.3 ABB EGM 系統介紹 18
第3章研究方法 20
3.1 機器視覺及影像處理 20
3.1.1 OpenCV環境介紹 20
3.1.2 灰階化 21
3.1.3 二值化 21
3.1.4 平滑化 23
3.1.5 邊緣檢測 24
3.1.6 霍夫圓檢測 25
3.2 機器人運動控制 26
3.2.1 D-H法 26
3.2.2 正向運動學 27
3.2.3 逆向運動學 29
3.2.4 點到點運動控制 31
3.2.5 伺服運動控制 32
3.2.6 手眼校正 33
3.3 力量及位置順應性控制 39
3.3.1 力量順應性控制 39
3.3.2 重力補償 42
3.3.3 位置順應性控制 56
3.4 機器人作業系統(ROS)整合應用 58
第4章實驗結果 62
4.1 實驗工作環境及齒輪裝配策略 62
4.2 具期望力量順應性驗證 62
4.3 齒輪箱裝配實驗 65
4.3.1 副齒輪裝配實驗 69
4.3.2 驅動齒輪裝配實驗 79
4.3.3 驅動軸組裝實驗 87
第5章結論及未來展望 91
5.1 論文結論 91
5.2 未來展望 91
參考文獻 93

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指導教授

陳怡呈(Yi-Cheng Chen)

審核日期

2023-10-24

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