結合視覺化程式設計平台開發機械手臂核心控制系統

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姓名

蔡宛芝(Wan-Chih Tsai) 查詢紙本館藏

畢業系所

資訊工程學系

論文名稱

結合視覺化程式設計平台開發機械手臂核心控制系統
(A robotic arm manipulation system using visual programming)

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摘要(中)

因應工業4.0的發展，各生產工廠皆紛紛導入自動化進程，除了各種製造機具外，機械手臂（Robotic arm）的需求也在日漸增長，尤以可編程機械手臂最為常見。就目前國內商品少量多樣且具週期性的特性，在進行更換產品時，則需針對不同產品做腳本上的修改，然而，機械手臂的腳本撰寫是件耗時且需專業知識背景的工作，除了需要對機械手臂的邏輯控制相當了解外，還需學習因應不同機械手臂而設計的機械手臂語言（RPL）及熟悉不同的IDE，故機械手臂的腳本修改成了一項難題。
本論文將實地查訪工廠數次，觀察廠內原使用機械手臂之情境，以「使用六軸工業用機械手臂協助工廠進行印刷電路板（PCB）的功能性測試」為實驗，了解目前系統中對於手臂編程以及控制系統的缺陷，提出一個直觀且易於編輯、可除錯的視覺程式設計環境(Visual Programming Environment)，另外，改善原控制系統之缺點，建立含GUI之中央控制系統來解析腳本，繼而對機械手臂下達運作指令，此中控系統亦負責管理與機械手臂的溝通，以及整個檢測系統之設備、排程狀態。
本論文開發之系統將降低修改機械手臂腳本的門檻，並能掌控目前測試進度、彈性地管理排程。

摘要(英)

With the development of Industry 4.0. Many manufacturing plants have imported process automation. In addition to the manufacturing machines, the demand for robotic arms is also growing. Especially programmable robotic arm is most common. In our country, the products have small, diverse and cyclical characteristics. When the factory wants to manufacture another product, it is necessary to modify the script for different products. However, the script design of the robotic arm is time-consuming and requires professional background knowledge. The engineers need to have a good understanding of the logic control in robot system, also need to learn the robot programming language (RPL) and IDE designed for different robot arms. Therefore, the script modification of the robotic arm has become a problem.
In this thesis, we will visit the factory several times. Observe the situation of the robotic arm execution, and use “six-axis industrial robotic arm to assist the factory in the functional testing of the printed circuit board (PCB)” as an experiment. Find out the defects of arm programming and control system in the current system. And propose a visual programming environment (VPE) which is intuitive, easy to edit, and debugging. In addition, improve the defects of the original control system, establish a control system with GUI to parse the scripts, then send command to robotic arm. This control system is also responsible for managing the status of each device, the test scheduling, and the communication with each device (including robotic arm) in testing environment,.
The system developed in this thesis will lower the threshold for modifying the script of robotic arm. It also can control the current test progress and manage the test schedule flexibly.

關鍵字(中)

★ 視覺化程式設計平台
★ 機械手臂應用系統
★ 開發及核心控制系統
★ 工廠自動化

關鍵字(英)

★ visual programming platform
★ robotic arm application
★ development and core control system
★ factory automation

論文目次

摘要 I
ABSTRACT II
目錄 III
圖目錄 V
表目錄 VII
一、緒論 1
1-1 研究背景 1
1-2 研究動機與目的 1
1-3 研究重點 2
1-4 論文架構 2
二、相關背景知識與研究 3
2-1 背景知識 3
2-1-1 視覺化程式設計平台 3
2-1-2 Lua與C++交互使用 5
2-2 相關研究 7
三、系統需求 9
3-1 原系統分析 9
3-1-1 原系統運作流程 9
3-1-2 測試環境變更與缺點 10
3-1-3 測試流程分析 11
3-2 視覺化設計平台 13
3-3 中控系統 14
四、系統設計 15
4-1 系統架構 15
4-2 系統運作流程 16
4-3 單位動作設計 18
4-4 視覺化程式平台設計 20
4-5 中控系統設計 26
4-5-1 中控系統架構 27
4-5-2 中控內部組件 28
4-5-3 中控運作流程 41
五、實驗環境 46
六、實驗結果與評估 50
6-1 實驗結果 50
6-1-1 還原實驗情境 50
6-1-2 更換機箱 50
6-1-3 新增機箱 51
6-1-4 混機測試 52
6-1-5 變更測試流程 52
6-2 系統評估 54
七、結論與未來研究方向 55
參考資料 56
附錄一環境配置檔 58

參考文獻

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指導教授

王尉任梁德容

審核日期

2020-7-15

推文